A spatio-temporal reference trajectory planner approach to collision-free continuum deformation coordination

Hossein Rastgoftar, Ilya V. Kolmanovsky

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This paper proposes a spatio-temporal reference trajectory planner approach to safely plan continuum deformation coordination of a multi-agent system (MAS) in an obstacle-laden environment. We formulate a desired n-D continuum deformation as a leader–follower problem guided by n+1 leaders and followed by the remaining follower agents either through direct communication with leaders or communication with neighboring agents. To plan a safe continuum deformation coordination, we first provide sufficient conditions for inter-agent and obstacle collision avoidance. Then, we spatially optimize the continuum deformation coordination using the A* search to determine leaders’ desired waypoints in an obstacle-laden environment. Leaders’ desired waypoints are connected through C1 continuous paths that are assigned by the spline curve fitting method. The desired trajectories of the leaders are then determined by planning a piece-wise constant reference input such that travel time is minimized and safety of the continuum deformation coordination is ensured.

Original languageEnglish (US)
Article number110255
StatePublished - Aug 2022
Externally publishedYes


  • And decentralized control
  • Continuum deformation
  • Multi-agent systems
  • Optimization
  • Search methods

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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