Analysis of consensus and collision avoidance using the collision cone approach in the presence of time delays

Abstract

This thesis provides a framework for a combined analysis of consensus algorithms for multi-agent systems that include the presence of obstacles and the presence of communication time delays. The consensus algorithms are based on Laplacian matrix theories and the collision avoidance algorithms are based on collision cone approach. We study and verify the conditions for all agents in a multi agent system to reach consensus with simultaneous collision avoidance using both analytical and graphical methods. The upper bound on the time delay with which consensus and collision avoidance can both be simultaneously achieved is evaluated for agents with different types of dynamics.