Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances

09/05/2017

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by   Kunal Garg, et al.

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This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on semi-cooperative coordination and we redesign the coordination controllers so that the agents counteract a class of state (wind) disturbances and measurement noise. Safety and convergence is proved analytically, while simulation results demonstrate the efficacy of the proposed solution.