Using Minimal Communication to Improve Decentralized Conflict Resolution for Non-holonomic Vehicles
|Title||Using Minimal Communication to Improve Decentralized Conflict Resolution for Non-holonomic Vehicles|
|Publication Type||Conference Paper|
|Year of Publication||2011|
|Authors||Krontiris, A, Bekris, KE|
|Conference Name||IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-11)|
|Conference Location||San Francisco, CA|
This work considers the problem of decentralized coordination between multiple non-holonomic vehicles, each navigating to a specified goal. By augmenting the Generalized Roundabout Policy (GRP), which guarantees collision avoidance, this paper improves the performance and liveness characteristics for such problems. These gains are achieved by integrating a second hybrid policy with GRP that updates the desired direction for each vehicle based on a dynamic priority scheme. In this scheme, minimalistic communication between vehicles is employed, such that information is periodically exchanged when changes in the high-level operating mode or prioritization occur. This information exchange is taking place only locally and data are exchanged only between neighboring vehicles. Additionally, each agent selects a control using only this local information and rules established by the two underlying hybrid automata. The proposed technique scales well due to its decentralized nature; the computational complexity depends on the maximum number of vehicles in communication range for a vehicle. This paper presents simulations which show that the proposed approach can solve problems faster than using GRP alone, as well as solve instances in which GRP fails to find a solution, with minimal communication and computational overhead.