Dynamic Distributed Coordination Schemes for Multi-Mobile Robot Systems Under Collision Avoidance Constraints

Abstract

Guaranteeing collision avoidance is of paramount importance in view of accomplishing missions where many agents are involved to share the same space. The main objective of this work is to expand the Turn-Based Command Governor approach in ([21]) by taking non-convex <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Collision Avoidance</i> constraints into account when performing Plug-and-Play (PnP) operations among agents operating in a 2D environment. To deal with such a scenario, formal conditions that guarantee collision-free Plug-and-Play (PnP) operations are given. These conditions are based on the concept of safe areas, which define regions where agents can safely perform PnP operations without the risk of collision. The effectiveness of the proposed strategy is illustrated through various examples, highlighting its potential for mission accomplishment involving multiple agents.