论文标题
与互动，非交流障碍的无冲突导航
Collision Free Navigation with Interacting, Non-Communicating Obstacles
论文作者
论文摘要
在本文中，我们考虑了与其他代理密集的区域中导航和运动控制的问题。我们提出了一种算法，即没有明确的通信并基于其所拥有的信息，可以为所有代理商计算最佳的控制动作并自行实施其。值得注意的是，宿主代理（执行算法的代理）计算其他代理的计算和观察到的控制动作之间的差异，并将其视为已知的干扰，这些干扰被反馈到基于强大的控制屏障函数（RCBF）基于二次的次数。创建反馈回路是因为另一个代理的计算控制动作取决于先前使用的干扰估计。在两个相互作用的代理的情况下，证明了反馈回路的稳定性，并且在约束依从性方面具有绩效保证。这是否存在其他代理是否执行相同的算法。
In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best control action for all the agents and implements its own. Notably, the host agent (the agent executing the algorithm) computes the differences between the other agents' computed and observed control actions and treats them as known disturbances that are fed back into a robust control barrier function (RCBF) based quadratic program. A feedback loop is created because the computed control action for another agent depends on the previously used disturbance estimate. In the case of two interacting agents, stability of the feedback loop is proven and a performance guarantee in terms of constraint adherence is established. This holds whether the other agent executes the same algorithm or not.
