Distributed Coordination for Multi-Vehicle Systems in the Presence of Misbehaving Vehicles

TL;DR

This paper develops a distributed control approach for multi-vehicle systems that ensures collision avoidance, connectivity, and destination convergence, even with misbehaving vehicles, using Lyapunov-like barrier functions.

Contribution

It introduces a novel Lyapunov-like barrier function-based distributed control method that handles misbehaving vehicles in multi-vehicle coordination tasks.

Findings

Effective control protocol for leader and followers

Successful simulation validation

Robustness against misbehaving vehicles

Abstract

The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and some specific control objectives, including collision avoidance, connectivity maintenance and convergence to desired destinations. The basic idea is to develop a proper Lyapunov-like barrier function for all tasks and a distributed controller could be built in the presence of misbehaving vehicles. Control protocols are provided for both leader vehicle and follower vehicles. The simulation results demonstrate the effectiveness of proposed method.