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@article{Cappello:2021:10.1109/TCST.2020.3005602,
author = {Cappello, D and Garcin, S and Mao, Z and Sassano, M and Paranjape, A and Mylvaganam, T},
doi = {10.1109/TCST.2020.3005602},
journal = {IEEE Transactions on Control Systems Technology},
pages = {1750--1757},
title = {A hybrid controller for multi-agent collision avoidance via a differential game formulation},
url = {http://dx.doi.org/10.1109/TCST.2020.3005602},
volume = {29},
year = {2021}
}

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TY  - JOUR
AB  - We consider the multi-agent collision avoidance problemfor a team of wheeled mobile robots. Recently, a local solutionto this problem, based on a game theoretic formulation, has beenprovided and validated via numerical simulations. Due to itslocal nature the result is not well-suited for online application.In this paper we propose a novel hybrid implementation of thecontrol inputs that yields a control strategy suited for the onlinenavigation of mobile robots. Moreover, subject to a certain dwelltime condition, the resulting trajectories are globally convergent.The control design is demonstrated both via simulations andexperiments.
AU  - Cappello,D
AU  - Garcin,S
AU  - Mao,Z
AU  - Sassano,M
AU  - Paranjape,A
AU  - Mylvaganam,T
DO  - 10.1109/TCST.2020.3005602
EP  - 1757
PY  - 2021///
SN  - 1063-6536
SP  - 1750
TI  - A hybrid controller for multi-agent collision avoidance via a differential game formulation
T2  - IEEE Transactions on Control Systems Technology
UR  - http://dx.doi.org/10.1109/TCST.2020.3005602
UR  - http://hdl.handle.net/10044/1/81127
VL  - 29
ER  -

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