论文标题
多代理系统与基于CBF的控制器的碰撞避免碰撞和透明度
Collision Avoidance and Liveness of Multi-agent Systems with CBF-based Controllers
论文作者
论文摘要
在本文中，我们考虑使用控制屏障功能（CBF）避免碰撞的多代理导航。在非交流代理的情况下，我们考虑在安全保证水平和livesice级之间进行权衡 - 在没有大弯路或僵局的情况下，在短时间内到达目的地的能力。我们将几个基于CBF的驾驶政策与需要通信的集中式控制器建立的基准进行了比较。比较的策略之一（CCS2）是新的，并跨越了仅可用本地控制的策略与避免碰撞的更复杂的预测器校准（PCCA）策略之间的空间，该策略根据观察到的行为调整每个人控制动作的本地副本。该论文确立了集中式PCCA和CCS2政策的可行性。蒙特卡洛模拟表明，与使用计算中所有控制输入的所有控制输入相比，分散的，仅宿主的控制策略缺乏能力，即使PCCA策略的表现也同样出色，即使它是分散的。
In this paper we consider multi-agent navigation with collision avoidance using Control Barrier Functions (CBF). In the case of non-communicating agents, we consider trade-offs between level of safety guarantee and liveness - the ability to reach destination in short time without large detours or gridlock. We compare several CBF-based driving policies against the benchmark established by the Centralized controller that requires communication. One of the policies (CCS2) being compared is new and straddles the space between policies with only local control available and a more complex Predictor-Corrector for Collision Avoidance (PCCA) policy that adjusts local copies of everyone's control actions based on observed behavior. The paper establishes feasibility for the Centralized, PCCA and CCS2 policies. Monte Carlo simulations show that decentralized, host-only control policies lack liveness compared to the ones that use all the control inputs in calculations and that the PCCA policy performs equally well as the Centralized, even though it is decentralized.
