Stanford Seminar - Why would we want a multi-agent system unstable
Mrdjan Jankovic of Ford Research
January 13, 2023
In everyday driving, many traffic maneuvers such as merges, lane changes, passing through an intersection, require negotiation between independent actors/agents. The same is true for mobile robots autonomously operating in a space open to other agents (e.g., humans, robots, etc.). Negotiation is an inherently difficult concept to code into a software algorithm. It has been observed in computer simulations that some “decentralized” algorithms produce gridlocks while others never do. It has turned out that gridlocking algorithms create locally s…
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Chapters (18)
Introduction
0:49
Objective - unstable feedback loop? ord
2:43
Why CBFs? Short answer - convex QP
6:31
CBF based safety filter
7:58
Barrier margin for robustness
9:14
Robust Control Barrier Functions
10:32
Turning obstacles into barriers
12:16
CBF based obstacle avoidance
13:42
Traffic flow and gridlocks
14:42
Avoiding interacting obstacles
17:26
Decentralized multi-agent controllers
19:07
Centralized CBF Controller
20:06
Co-optimization and CCS
23:19
PCCA algorithm guarantees
24:00
5 agents Monte Carlo Simulations
24:52
Comparison of CBF based methods
26:08
Deadlock resolution
26:51
Cause
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