Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions

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

Research output: Contribution to journalArticlepeer-review


In recent years, the increasing popularity of multi-vehicle missions has been accompanied by a growing interest in the development of control strategies to ensure safety in these scenarios. In this work, we propose a control framework for coordination and collision avoidance in cooperative multi-vehicle missions based on a speed adjustment approach. The overall problem is decoupled in a coordination problem, in order to ensure coordination and inter-vehicle safety among the agents, and a collision-avoidance problem to guarantee the avoidance of non-cooperative moving obstacles. We model the network over which the cooperative vehicles communicate using tools from graph theory, and take communication losses and time delays into account. Finally, through a rigorous Lyapunov analysis, we provide performance bounds and demonstrate the efficacy of the algorithms with numerical and experimental results.
Original languageEnglish (US)
Article number34
Pages (from-to)1-23
Number of pages23
Issue number1
StatePublished - Mar 2021


  • Autonomous systems
  • Collision avoidance
  • Multi-vehicle coordination

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence


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