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

TL;DR

This paper introduces a robust distributed coordination protocol for multiple unicycle agents that ensures collision-free trajectories despite stochastic disturbances, with proven safety and convergence through analytical methods and simulations.

Contribution

It extends previous semi-cooperative coordination methods by redesigning controllers to counteract stochastic disturbances, ensuring safety and convergence.

Findings

Safety and convergence are analytically proven.

Simulation results confirm effectiveness under stochastic disturbances.

The protocol maintains collision-free trajectories in uncertain environments.

Abstract

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.