Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes

Mohd. Faizuddin Faruqui; Pushpak Jagtap; Ratnangshu Das; Ravi Kumar L

Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes

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arxiv 2503.10245 v1 pith:HIUEFRC7 submitted 2025-03-13 eess.SY cs.SY

Mohd. Faizuddin Faruqui , Ratnangshu Das , Ravi Kumar L , Pushpak Jagtap This is my paper · ORCID

classification eess.SYcs.SY

keywords multi-agentspatiotemporaltaskstubesagentagentsframeworkmechanism

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This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal tubes to generate time-varying state constraints, we ensure that all agents adhere to RAS specifications using synthesized controllers. To prevent inter-agent collisions, a negotiation mechanism is proposed where successful negotiations result in spatiotemporal tubes for each agent fulfilling desired tasks. This approach results in a completely distributed, approximation-free control law for each agent. The effectiveness of this mechanism was validated through simulations of multi-agent robot navigation and drone navigation tasks involving prescribed-time RAS specifications and collision avoidance.

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Spatiotemporal Tubes for Temporal Reach-Avoid-Stay Tasks in Unknown Systems
eess.SY 2024-11 conditional novelty 6.0 of 10

A sampling-based method constructs spatiotemporal tubes and a closed-form controller that make unknown nonlinear systems satisfy temporal reach-avoid-stay tasks with formal guarantees.

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