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arXiv · 1709.01586

Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances

Kunal Garg·Dongkun Han·Dimitra Panagou
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Abstract

This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on semi-cooperative coordination and we redesign the coordination controllers so that the agents counteract a class of state (wind) disturbances and measurement noise. Safety and convergence is proved analytically, while simulation results demonstrate the efficacy of the proposed solution.

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Kunal Garg, Dongkun Han, Dimitra Panagou. 2017-09-05. Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances. https://doi.org/10.1109/cdc.2017.8264163

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