Figures & data
Algorithm 2 Multi-agent RRT algorithm
Figure 1 Closed-loop prediction for the waypath following. Uncertainty ellipses are shown in black centred around the actual trajectory
Figure 2 Paths for different cases using the closed-loop RRT algorithm
Figure 3 Sample tree with Γ = 0.5 generated by the closed-loop RRT algorithm for a simple environment. Each node corresponds to the state distribution mean; a 2 − σ uncertainty ellipse is centred at each node. The mean is shown by ‘x’ in each ellipse
Figure 4 Sample tree with Γ = 0.9 generated by the closed-loop RRT algorithm for a simple environment
Table 3 Simulation results, cluttered environment
Table 1 Tree expansion for each agent
Figure 5 Computational performance
Figure 6 Probability of collision
Figure 7 Agents moving towards each other for three different cases
Figure 8 Sample trees
Figure 9 Searched path (solid) and tracked trajectory (dashed)
Figure 10 An example scenario of conflict resolution in an uncertain dynamic environment. (a) Agents moving towards their goal positions while avoiding conflict. (b) Probability of collision
