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This work presents a potential field-based control approach for multi-agent dynamical systems in a multi-obstacle environment. A strong focus is put on solving the collision avoidance (either with obstacles or other agents) problem, which is essential for any multi-agent control strategy. In here we discuss potential field constructions which are used for penalizing in the cost the collision avoidance...
This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations...
The current paper addresses the problem of minimizing the computational complexity of optimization problems with non-convex and possibly non-connected feasible region of polyhedral type. Using hyperplane arrangements and Mixed-Integer Programming we provide an efficient description of the feasible region in the solution space. Moreover, we exploit the geometric properties of the hyperplane arrangements...
The current paper addresses the problem of optimizing a cost function over a non-convex and possibly non-connected feasible region. A classical approach for solving this type of optimization problem is based on Mixed integer technique. The exponential complexity as a function of the number of binary variables used in the problem formulation highlights the importance of reducing them. Previous work...
This paper is concerned with the improved constraints handling in mixed-integer optimization problems. The novel element is the reduction of the number of binary variables used for expressing the complement of a convex (polytopic) region. As a generalization, the problem of representing the complement of a possibly non-connected union of such convex sets is detailed. In order to illustrate the benefits...
This paper deals with collision avoidance problems while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a realtime optimization problem with non-convex constraints over a finite time horizon. Both centralized and decentralized MPC formulations are presented. In a second stage it is shown...
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