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Computer Science > Robotics

arXiv:2108.01320 (cs)
[Submitted on 3 Aug 2021]

Title:Optimization Based Collision Avoidance for Multi-Agent DynamicalSystems in Goal Reaching Task

Authors:Adarsh Patnaik, Ashish Ranjan Hota
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Abstract:This work presents a distributed MPC-based approach to solving the problem of multi-agent point-to-point transition with optimization-based collision avoidance. The problem is formulated, motivated by the work on collision avoidance for multi-agent systems and dynamic obstacles. With modifications to the formulation, the problem is converted into a distributed problem with a separable objective and coupled constraints. The problem is divided into local sub-problems and solved using Alternating Directions Method of Multipliers(ADMM) applied on an augmented local lagrangian this http URL work aims to understand the multi-agent point-to-point transition problem as an extension of optimization-based collision avoidance and analyze the aspects of computational times, reliability, and optimality of the solution obtained.
Comments: 7 pages, 5 figures
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2108.01320 [cs.RO]
  (or arXiv:2108.01320v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.01320

Submission history

From: Adarsh Patnaik [view email]
[v1] Tue, 3 Aug 2021 06:37:54 UTC (235 KB)
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