Collision-Free 3D Flocking Using the Distributed Simplex Architecture

Usama Mehmood; Scott D. Stoller; Radu Grosu; Scott A. Smolka

doi:10.1007/978-3-030-87348-6_9

Collision-Free 3D Flocking Using the Distributed Simplex Architecture

Usama Mehmood
, Scott D. Stoller
, Radu Grosu
, Scott A. Smolka

Computer Science

Stony Brook University
TU Wien

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

3 Scopus citations

Abstract

The Distributed Simplex Architecture (DSA) extends the Simplex control architecture of Sha et al. to provide runtime safety assurance for multi-agent systems under distributed control. In this paper, we show how DSA can be used to ensure collision-free 3D flocking behavior, such that agents avoid colliding with each other and with cuboid-shaped obstacles.

Original language	English
Title of host publication	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	147-156
Number of pages	10
DOIs	https://doi.org/10.1007/978-3-030-87348-6_9
State	Published - 2021

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13065 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Keywords

Collision avoidance
Control Barrier Functions
Flocking
Runtime assurance
Simplex architecture

Access to Document

10.1007/978-3-030-87348-6_9

Cite this

Mehmood, U., D. Stoller, S., Grosu, R., & A. Smolka, S. (2021). Collision-Free 3D Flocking Using the Distributed Simplex Architecture. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 147-156). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13065 LNCS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-87348-6_9

Mehmood, Usama ; D. Stoller, Scott ; Grosu, Radu et al. / Collision-Free 3D Flocking Using the Distributed Simplex Architecture. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Science and Business Media Deutschland GmbH, 2021. pp. 147-156 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Mehmood, U, D. Stoller, S, Grosu, R & A. Smolka, S 2021, Collision-Free 3D Flocking Using the Distributed Simplex Architecture. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13065 LNCS, Springer Science and Business Media Deutschland GmbH, pp. 147-156. https://doi.org/10.1007/978-3-030-87348-6_9

Collision-Free 3D Flocking Using the Distributed Simplex Architecture. / Mehmood, Usama; D. Stoller, Scott; Grosu, Radu et al.
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Science and Business Media Deutschland GmbH, 2021. p. 147-156 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13065 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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Mehmood U, D. Stoller S, Grosu R, A. Smolka S. Collision-Free 3D Flocking Using the Distributed Simplex Architecture. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Science and Business Media Deutschland GmbH. 2021. p. 147-156. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-87348-6_9