Decentralized navigation with optimality for multiple holonomic agents in simply connected workspaces

HIGHLIGHTS

• What: To achieve this the authors design a decentralized control protocol defined by a navigation function where each agent is equipped with a navigation controller that resolves imminent safety conflicts with the others as well as the workspace boundary without requesting knowledge about the goal position of the other agents. To achieve the goal the authors examine how much the yielded sub-optimal trajectory deviates from the optimal one and how much time the multi-agent system needs to accomplish its task as the authors increase the number of agents. The authors compare the method results with . . .
  

   

  

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