Multi-agent path planning in dynamic environment with communication disruptions

Abstract

In this research, we present an innovative pathplanning strategy specifically designed for a cooperative group of interconnected agents that are navigating in a synchronized formation through diverse environments, which include both stationary and moving obstacles that could hinder their progress. This strategy is developed by integrating Distributed Nonlinear Dynamic Inversion (DNDI) based leader-follower formation tracking control with the dynamic autorouting capabilities derived from the Interfered Fluid Dynamical System (IFDS). The proposed method exhibits a remarkable ability to effectively address the challenges posed by the absence of communication among agents, as well as the difficulties encountered when facing dynamic obstacles, all while ensuring that a safe distance is consistently maintained between all agents throughout their flight.