Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance

TL;DR

This paper introduces a new distributed control method for multi-agent systems that ensures finite-time collision-free motion planning using a Lyapunov barrier function, validated through simulations.

Contribution

It proposes a novel finite-time distributed controller based on a Lyapunov barrier function for collision avoidance in multi-agent systems.

Findings

Guarantees finite-time stability without collisions

Effective in multi-agent systems as shown by simulations

Provides a new approach for collision-free motion planning

Abstract

Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for multi-agent systems without collisions. First, the problem of finite-time motion planning of multi-agent systems is formulated. Then, a novel finite-time distributed controller is developed based on a Lyapunov barrier function. Finally, numerical simulations demonstrate the effectiveness of proposed method.