Planning and Control of Multi-Agent Systems

Buffered Voronoi Cells are utilized to ensure adequate separation between robots in an obstacle field. Cells are recomputed at each iteration, intermediate goals are determined, and A* is used for determining intermediate goal locations within each cell in a PyGame simulation environment.

Ongoing work includes testing different motion planning algorithms built for non-holonomic agents and using NMPC to follow trajectories.

The video below shows BVC and A* in action, for 30 Agents reaching their destinations without any collisions!

Agents are square blocks that are brightly colored, and their destinations are the circles or corresponding colors. Lighter blocks of a similar color in the Agent's vicinity is its Voronoi Cell. Dark grey blocks represent obstacles, and light gray blocks represent the planned paths for each agent.