Collision avoidance for multiple agent systems

Chang, D. E., S. Shadden, J. E. Marsden, and R. Olfati-Saber

Proc. CDC, 42, 539-543

Abstract:

Techniques using gyroscopic forces and scalar potentials are used to create swarming behaviors for multiple agent systems. The methods result in collision avoidance between the agents as well as with obstacles.