Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances
For multi-robot systems operating under uncertainty, this work provides a robust coordination method with formal guarantees, though it is an incremental extension of prior work.
This paper extends a semi-cooperative multi-agent coordination protocol to handle stochastic disturbances (wind and measurement noise), proving safety and convergence analytically and demonstrating efficacy via simulations.
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.