Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM
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arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866915883291508736 |
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| author | Lee, Seungyeop Kim, Jong-Han |
| author_facet | Lee, Seungyeop Kim, Jong-Han |
| contents | In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage times while preserving each agent's assigned waypoint order and nominal route assignment. A differentiable surrogate trajectory model maps waypoint timings to smooth position profiles and captures first-order tracking lag, enabling pairwise safety to be encoded through distance-based penalties evaluated on a dense temporal grid spanning the mission horizon. The resulting nonlinear and nonconvex velocity-scheduling problem is solved using an inexact-projection Alternating Direction Method of Multipliers (ADMM) algorithm that combines structured timing updates with gradient-based collision-correction steps and avoids explicit integer sequencing variables. Numerical experiments on random-crossing, bottleneck, and graph-based network scenarios show that the proposed method computes feasible and time-efficient schedules across a range of congestion levels and yields shorter mission completion times than a representative hierarchical baseline in the tested bottleneck cases. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_21913 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM Lee, Seungyeop Kim, Jong-Han Robotics Systems and Control Optimization and Control In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage times while preserving each agent's assigned waypoint order and nominal route assignment. A differentiable surrogate trajectory model maps waypoint timings to smooth position profiles and captures first-order tracking lag, enabling pairwise safety to be encoded through distance-based penalties evaluated on a dense temporal grid spanning the mission horizon. The resulting nonlinear and nonconvex velocity-scheduling problem is solved using an inexact-projection Alternating Direction Method of Multipliers (ADMM) algorithm that combines structured timing updates with gradient-based collision-correction steps and avoids explicit integer sequencing variables. Numerical experiments on random-crossing, bottleneck, and graph-based network scenarios show that the proposed method computes feasible and time-efficient schedules across a range of congestion levels and yields shorter mission completion times than a representative hierarchical baseline in the tested bottleneck cases. |
| title | Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM |
| topic | Robotics Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2603.21913 |