Adaptive Multi-Agent Control with Dynamic Obstacle Avoidance in a Limited Region

This paper presents an adaptive multi-agent control strategy with dynamic obstacle avoidance. The strategy considers the limitation of the obstacle avoidance space which makes it more implementable in practical applications. Inspired by the coverage problem, the obstacle avoidance strategy is developed based on the Centroidal Voronoi Tessellation (CVT) technique with a special design of time-varying density function. The strategy is implemented by an adaptive controller, taking into account the output constraints and the time-varying system uncertainties. The controller is constructed through the function approximation technique based immersion and invariance (FATII) approach. The stability of the corresponding control system is established, and the validity of the proposed controller is tested by simulations.