lxjlu/kheperaiv_ros

Differential game theory for multi-agent collision avoidance. Simulations set up.

Differential game theory for multi-agent collision avoidance. Simulations set up.

Set up of the simulations infrastructure for the implementation of [1-2]. The main contributions of this project are:

1. Implementation of offline centralised and decentralised collision-avoidance path planning algorithms via linear-quadratic differential games.
2. Generalisation of the decentralised planner to online operation.
3. A nested feedback-LQR controller for trajectory following of a non-holonomic robot.
4. Odometry tracking though sensor fusion with extended Kalman filtering.
5. The first known Gazebo model of the KheperaIV robot.

References

1. T. Mylvaganam, M. Sassano and A. Astolfi, "A Differential Game Approach to Multi-agent Collision Avoidance," in IEEE Transactions on Automatic Control, vol. 62, no. 8, pp. 4229-4235, Aug. 2017, doi: 10.1109/TAC.2017.2680602.
2. D. Cappello and T. Mylvaganam, "A Game Theoretic Framework for Distributed Control of Multi-Agent Systems with Acyclic Communication Topologies," 2019 IEEE 58th Conference on Decision and Control (CDC), Nice, France, 2019, pp. 4477-4482, doi: 10.1109/CDC40024.2019.9029567.