for Multi-agent

Abstract — A feedback control strategy that achieves con-vergence of a multi-agent system to a desired formation configuration avoiding at the same time collisions is proposed. The collision avoidance objective is handled by a decentralized navigation function that vanishes when the desired

Abstract: This paper tackles a decentralized formation control problem including collision avoidance by using set in-variance theory. We first derive a necessary and sufficient condition for the collision avoidance based on the set invariance theory. Then, we present the algorithm to find

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This paper describes the dynamic window approach to reactive collision avoidance for mobile robots equipped with synchro-drives. The approach is derived directly from the motion dynamics of the robot and is therefore particularly well-suited for robots operating at high speed. It differs from

New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors

This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al

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A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram(VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses

clusters based on common sleep schedules to reduce control overhead and enable traffic-adaptive wake-up. S-MAC uses in-channel signaling to avoid overhearing unnecessary traffic. Finally, S-MAC applies message passing to reduce contention latency for applications that require in-network data processing