Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds

In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The problem consists of finding non-intersecting trajectories between the agent and prescribed obstacles on the workspace, among a...

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Bibliographic Details
Published in:arXiv.org 2019-10
Main Authors: Rama Seshan Chandrasekaran, Colombo, Leonardo J, Camarinha, Margarida, Banavar, Ravi, Bloch, Anthony
Format: Article
Language:English
Subjects:
Acceleration
Collision avoidance
Evolution
Multiagent systems
Obstacle avoidance
Riemann manifold
Rigid structures
Trajectory planning
Online Access:Get full text
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Summary:In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The problem consists of finding non-intersecting trajectories between the agent and prescribed obstacles on the workspace, among a set of admissible curves, to reach a specified configuration, based on minimizing an energy functional that depends on the velocity, covariant acceleration and an artificial potential function used to prevent collision with the obstacles and among the agents. We apply the results to examples of a planar rigid body, and collision and obstacle avoidance for agents evolving on a sphere.
ISSN:2331-8422