A Hybrid Framework for Multi-Vehicle Collision Avoidance Article Swipe
Aparna Dhinakaran
,
Mo Chen
,
Glen Chou
,
Jennifer C. Shih
,
Claire J. Tomlin
·
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1703.07375
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1703.07375
With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ) reachability has successfully provided these guarantees to small-scale systems and is flexible in terms of system dynamics. However, the exponential complexity scaling of HJ reachability with respect to system dimension prevents its direct application to larger-scale problems where the number of vehicles is greater than two. In this paper, we propose a collision avoidance algorithm using a hybrid framework for N+1 vehicles through higher-level control logic given any N-vehicle collision avoidance algorithm. Our algorithm conservatively approximates a guaranteed-safe region in the joint state space of the N+1 vehicles and produces a safety-preserving controller. In addition, our algorithm does not incur significant additional computation cost. We demonstrate our proposed method in simulation.
Related Topics
Concepts
Reachability
Collision avoidance
Computer science
Dimension (graph theory)
Controller (irrigation)
Collision
State space
Computation
Hybrid automaton
Mathematical optimization
Scale (ratio)
Hybrid system
Control theory (sociology)
Distributed computing
Algorithm
Control (management)
Mathematics
Artificial intelligence
Physics
Quantum mechanics
Agronomy
Machine learning
Statistics
Computer security
Biology
Pure mathematics
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/1703.07375
- https://arxiv.org/pdf/1703.07375
- OA Status
- green
- Cited By
- 1
- References
- 24
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W2949363821
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2949363821Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.1703.07375Digital Object Identifier
- Title
-
A Hybrid Framework for Multi-Vehicle Collision AvoidanceWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2017Year of publication
- Publication date
-
2017-03-21Full publication date if available
- Authors
-
Aparna Dhinakaran, Mo Chen, Glen Chou, Jennifer C. Shih, Claire J. TomlinList of authors in order
- Landing page
-
https://arxiv.org/abs/1703.07375Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/1703.07375Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/1703.07375Direct OA link when available
- Concepts
-
Reachability, Collision avoidance, Computer science, Dimension (graph theory), Controller (irrigation), Collision, State space, Computation, Hybrid automaton, Mathematical optimization, Scale (ratio), Hybrid system, Control theory (sociology), Distributed computing, Algorithm, Control (management), Mathematics, Artificial intelligence, Physics, Quantum mechanics, Agronomy, Machine learning, Statistics, Computer security, Biology, Pure mathematicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
1Total citation count in OpenAlex
- Citations by year (recent)
-
2017: 1Per-year citation counts (last 5 years)
- References (count)
-
24Number of works referenced by this work
- Related works (count)
-
20Other works algorithmically related by OpenAlex
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