Abstract
This paper presents a speed adjustment method for avoiding obstacles during multi-vehicle cooperative missions. The algorithm assumes knowledge of a nominal trajectory for the obstacle and takes into account bounded deviations in the speed profile. Observing such changes, the algorithm varies the pace of the mission accordingly. Rigorous theoretical results guarantee that the collision is avoided under the cooperative mission scenario.
| Original language | English (US) |
|---|---|
| Title of host publication | 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2152-2157 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509028733 |
| DOIs | |
| State | Published - Jan 18 2018 |
| Event | 56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia Duration: Dec 12 2017 → Dec 15 2017 |
Publication series
| Name | 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 |
|---|---|
| Volume | 2018-January |
Other
| Other | 56th IEEE Annual Conference on Decision and Control, CDC 2017 |
|---|---|
| Country | Australia |
| City | Melbourne |
| Period | 12/12/17 → 12/15/17 |
ASJC Scopus subject areas
- Decision Sciences (miscellaneous)
- Industrial and Manufacturing Engineering
- Control and Optimization
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Cite this
Mehdi, S. B., Cichella, V., Marinho, T., & Hovakimyan, N. (2018). Collision avoidance in multi-vehicle cooperative missions using speed adjustment. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (pp. 2152-2157). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8263963