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C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking

Müller, Joachim and Viseras Ruiz, Alberto and Manß, Christoph and Wiedemann, Thomas (2015) C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking. MSC 2015, 20-23 Sept 2015, Sydney, Australia. ISBN 978-1-4799-7786-4

[img] PDF (Paper with minor typo corrections over submitted version.) - Registered users only


When using multiple robotic agents for waypoint-based exploration or coverage tasks, collision avoidance between agents is an important issue. With a centralized planner, this issue arises only at one central instance. However, when using asynchronous and/or decentralized algorithms, decentralized methods for collision avoidance need to be used. We propose a novel approach based on the asynchronous backtracking (ABT) algorithm which provides decentralized constraint satisfaction called continuous ABT(C-ABT). C-ABT is a continuous extension to ABT intended as a collision avoidance layer for existing multi-agent waypoint navigation. It extends ABT in the sense that participating agents know when they found a valid solution. In this case, agents can safely move to their selected waypoints. While ABT only finds one static solution, C-ABT is suited for continuously provided new waypoints for all agents. By using the concept of local neighborhoods, C-ABT is also scalable to swarms of arbitrary size.

Item URL in elib:https://elib.dlr.de/97501/
Document Type:Conference or Workshop Item (Speech)
Title:C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Müller, Joachimjoachim.mueller (at) dlr.deUNSPECIFIED
Viseras Ruiz, Albertoalberto.viserasruiz (at) dlr.deUNSPECIFIED
Manß, Christophchristoph.manss (at) dlr.deUNSPECIFIED
Wiedemann, Thomasthomas.wiedemann (at) dlr.deUNSPECIFIED
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:ABT, Constraint Satisfaction, CSP, distributed, Multi-Agent
Event Title:MSC 2015
Event Location:Sydney, Australia
Event Type:international Conference
Event Dates:20-23 Sept 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old), R - Project Dependable Navigation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Deposited By: Müller, Joachim
Deposited On:05 Oct 2015 15:28
Last Modified:05 Oct 2015 15:28

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