01288nas a2200157   4500008004100000245008500041210006900126520071000195653002100905653001300926100001900939700001700958700001600975700001500991856012401006       2005                        eng d00aDecentralized Cooperative Conflict Resolution for Multiple Nonholonomic Vehicles0 aDecentralized Cooperative Conflict Resolution for Multiple Nonho3 a<p>In this paper, we consider the problem of collision-free motion planning for multiple nonholonomic planar vehicles. Each vehicle is capable of moving at constant speed along paths with bounded curvature, and is aware of the position and heading of other vehicles within a certain sensing radius. No other information exchange is required between vehicles. We propose a spatially decentralized, cooperative hybrid control policy that ensures safety for arbitrary numbers of vehicles. Furthermore, we show that under certain conditions, the policy avoids dead- and livelock, and eventually all vehicles reach their intended targets. Simulations and experimental results are presented and discussed.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aScordio, V G1 aFrazzoli, E1 aBicchi, A.  uhttp://175973.jxltd.asia/publications/decentralized-cooperative-conflict-resolution-multiple-nonholonomic-vehicles.html