Vision Based Collision Avoidance For Multi-Agent Systems Using Avoidance Functions

In this paper, a methodology for designing control strategies that guarantee collision avoidance for multi-agent systems without the information about the relative distances among the agents, is provided. The controllers are designed using avoidance functions that rely only on the visual information, that is, times-to-collision and line-of-sight angle. This method is particularly suitable to low-cost and/or small robotic systems that are not equipped with range measurement devices like radars and lidars. Finally, the collision avoidance is guaranteed using Lyapunov analysis type of technical arguments and illustrated using simulations.