arXiv Open Access 2022

Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance

Yilei Jiang Dongkun Han

Lihat Sumber

Abstrak

Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for multi-agent systems without collisions. First, the problem of finite-time motion planning of multi-agent systems is formulated. Then, a novel finite-time distributed controller is developed based on a Lyapunov barrier function. Finally, numerical simulations demonstrate the effectiveness of proposed method.

Topik & Kata Kunci

cs.MA

Penulis (2)

Yilei Jiang

Dongkun Han

Format Sitasi

APA MLA BibTeX

Jiang, Y., Han, D. (2022). Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance. https://arxiv.org/abs/2208.02020

Akses Cepat

Lihat di Sumber

Informasi Jurnal

Tahun Terbit: 2022
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓