目標到達タスクにおけるマルチエージェント動的システムの最適化ベース衝突回避
Optimization Based Collision Avoidance for Multi-Agent DynamicalSystems in Goal Reaching Task
分散MPCとADMMを用いて、複数エージェントが衝突を避けながら目標点へ到達する問題を局所部分問題に分割して解き、計算時間・信頼性・最適性を分析した研究。
著者: Adarsh Patnaik, Ashish Ranjan Hota
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This work presents a distributed MPC-based approach to solving the problem of multi-agent point-to-point transition with optimization-based collision avoidance. The problem is formulated, motivated by the work on collision avoidance for multi-agent systems and dynamic obstacles. With modifications to the formulation, the problem is converted into a distributed problem with a separable objective and coupled constraints. The problem is divided into local sub-problems and solved using Alternating Directions Method of Multipliers(ADMM) applied on an augmented local lagrangian objective.This work aims to understand the multi-agent point-to-point transition problem as an extension of optimization-based collision avoidance and analyze the aspects of computational times, reliability, and optimality of the solution obtained.
