Collision avoidance in multi-vehicle cooperative missions using speed adjustment

Syed Bilal Mehdi, Venanzio Cichella, Thiago Marinho, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2152-2157
Number of pages6
ISBN (Electronic)9781509028733
DOIs
StatePublished - Jan 18 2018
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: Dec 12 2017Dec 15 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
CountryAustralia
CityMelbourne
Period12/12/1712/15/17

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