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Safe Formation Control with Obstacle Avoidance

Shames, Iman; Deghat, Mohammad; Anderson, Brian


In this paper, we consider the general problem of guaranteeing safe interaction of humans and a group of mobile agents in an environment of interest. The way that we guarantee such a safe interaction is via proposing algorithms that prevent the agents from colliding with environmental obstacles with unknown sizes and locations, e.g. human operators. To do so, we first consider the problem of forcing a set of autonomous agents form a desired formation and follow a trajectory only known to one of...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: IFAC World Congress 2011 proceedings
DOI: 10.3182/20110828-6-IT-1002.02278


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