Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents

<div>2D schematic representation of <svg height="12.3054pt" id="M3" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -9.01432 15.0297 12.3054" width="15.0297pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M856 669C824 657 796 643 772 628C709 667 631 687 551 687C314 687 158 548 158 412C158 332 216 282 300 282C445 282 516 426 527 561H507C478 406 414 312 302 312C245 312 199 352 199 408C199 535 345 657 550 657C617 657 687 644 742 609C644 538 583 430 495 271C383 71 317 16 193 16C122 16 73 60 73 95H75C82 84 97 83 105 83C133 83 148 106 148 131C148 160 125 179 97 179C64 179 38 151 38 108C38 42 104 -15 211 -15C368 -15 496 71 610 302C672 426 704 522 770 588C803 559 825 518 825 465C825 382 787 316 731 316C710 316 697 328 697 345C697 358 700 380 733 399L723 417C688 398 665 367 665 338C665 303 688 272 737 272C821 272 886 359 886 447C886 516 850 572 797 612C816 627 836 639 863 650L856 669Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.83,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g></svg> with planar obstacle in <svg height="12.1436pt" id="M4" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -8.96212 41.3921 12.1436" width="41.3921pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M669 636L663 650H260C230 650 221 652 208 675H186C177 621 162 548 144 481L173 479C195 534 211 560 226 578C248 604 266 615 373 615H544C460 511 114 112 23 16L31 0H561C577 34 611 135 622 170L594 182C566 125 544 88 515 65C481 38 416 35 319 35C249 35 197 37 152 41C270 184 542 501 669 636Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.931,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g><g transform="matrix(.013,0,0,-0.013,16.783,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,27.319,0)"><path d="M669 636L663 650H260C230 650 221 652 208 675H186C177 621 162 548 144 481L173 479C195 534 211 560 226 578C248 604 266 615 373 615H544C460 511 114 112 23 16L31 0H561C577 34 611 135 622 170L594 182C566 125 544 88 515 65C481 38 416 35 319 35C249 35 197 37 152 41C270 184 542 501 669 636Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,36.25,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg> plane.</div>

Journal of Advanced Transportation

fig2

Figure 2

Figure 2: Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents 