Reduction of Necessary Conditions for the Variational Collision Avoidance Problem

Abstract

In this work, we study the reduction by a Lie group of symmetries of variational collision avoidance probelms of multiple agents evolving on a Riemannian manifold and derive necessary conditions for the reduced extremals. The problem consists of finding non-intersecting trajectories of a given number of agents, among a set of admissible curves, to reach a specified configuration, based on minimizing an energy functional that depends on the velocity, covariant acceleration and an artificial potential function used to prevent collision among the agents.

arXiv comment7 pages, 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2024. arXiv admin note: text overlap with arXiv:2310.18057, arXiv:2207.13574