Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866929758157144064 |
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| author | Faruqui, Mohd. Faizuddin Das, Ratnangshu L, Ravi Kumar Jagtap, Pushpak |
| author_facet | Faruqui, Mohd. Faizuddin Das, Ratnangshu L, Ravi Kumar Jagtap, Pushpak |
| contents | This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal tubes to generate time-varying state constraints, we ensure that all agents adhere to RAS specifications using synthesized controllers. To prevent inter-agent collisions, a negotiation mechanism is proposed where successful negotiations result in spatiotemporal tubes for each agent fulfilling desired tasks. This approach results in a completely distributed, approximation-free control law for each agent. The effectiveness of this mechanism was validated through simulations of multi-agent robot navigation and drone navigation tasks involving prescribed-time RAS specifications and collision avoidance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_10245 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes Faruqui, Mohd. Faizuddin Das, Ratnangshu L, Ravi Kumar Jagtap, Pushpak Systems and Control This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal tubes to generate time-varying state constraints, we ensure that all agents adhere to RAS specifications using synthesized controllers. To prevent inter-agent collisions, a negotiation mechanism is proposed where successful negotiations result in spatiotemporal tubes for each agent fulfilling desired tasks. This approach results in a completely distributed, approximation-free control law for each agent. The effectiveness of this mechanism was validated through simulations of multi-agent robot navigation and drone navigation tasks involving prescribed-time RAS specifications and collision avoidance. |
| title | Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.10245 |