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Coordination of autonomous non-point agents is studied in this work. Interactions between vehicles together with their internal dynamics have been modeled as a continuous, unconstrained differential game. In particular, collision prediction is shown to be achievable in a cooperative scheme through solving the boundary value equation associated with the dual problem. Optimal control formulation has...
Coordination of autonomous non-point agents in four-way crossings is studied in this work. A control scheme based on artificial potential functions is proposed in order to coordinate holonomic agents whose aim is to pass through an intersection while avoiding collisions. To do so, the agents are provided with a decentralized navigation function in which the goal and collision functions are decoupled...
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