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

2021-08-03 06:37:54
Adarsh Patnaik, Ashish Ranjan Hota
arXiv_RO
     
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 objective.This 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.

Abstract (translated)

URL

https://arxiv.org/abs/2108.01320

PDF

https://arxiv.org/pdf/2108.01320.pdf

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