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

TL;DR

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.

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.

Figures (5)

• Figure 1: Bicycle model schematic
• Figure 2: Configuration illustration for the leader agent and follower agents.
• Figure 3: The motion of multi-vehicle in the presence of misbehaving vehicles (white agents).
• Figure 4: Distance of Each Normal Agent to Their Destination Over Time.
• Figure 5: The evolution of the inter-agent distances $\|r_{ij}(t)\|$.