This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defining the collision avoidance control strategy: This kind of forces leads to avoiding collisions, without interfering with the convergence properties of the multi-robot system's desired control law. Collision avoidance introduces, in fact, a perturbation on the nominal behavior of the system: We define a method for choosing the direction of the gyroscopic force in an optimal manner, in such a way that perturbation is minimized. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose.

Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - In: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS. - ISSN 1729-8806. - 14:1(2017), pp. 1-15.

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