Resilient Collision-Free Distributed Optimal Coordination for Multiple Euler–Lagrangian Systems Under Unreliable Communication Topologies
研究了通信不可靠时多机器人系统如何既避免碰撞又实现最优协调，提出了一种基于实时位置的分布式避碰算法和自适应跟踪控制器，并通过仿真验证了有效性。
This article addresses the problem of resilient collision avoidance distributed optimal coordination (DOC) for multiple Euler-Lagrangian (EL) systems under unreliable communication topologies. Due to adverse network conditions and cyber attacks, communication between agents can be disrupted during certain time intervals. To achieve collision avoidance between agents, a barrier function is redesigned, and a communication-based distributed collision avoidance algorithm is correspondingly proposed. Then, a resilient collision avoidance DOC strategy based on real-time position-based gradient is introduced, incorporating a coordinator for generating collision avoidance formation reference signals and an adaptive tracking controller. By utilizing the Lyapunov method and boundedness analysis, the proposed DOC strategy is proven to achieve both convergence and collision avoidance, even under unreliable communication networks. Finally, the effectiveness of the proposed strategy is validated through a simulation example.