{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:35:34Z","timestamp":1762522534494,"version":"build-2065373602"},"reference-count":37,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2021,2,13]],"date-time":"2021-02-13T00:00:00Z","timestamp":1613174400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In recent years, the increasing popularity of multi-vehicle missions has been accompanied by a growing interest in the development of control strategies to ensure safety in these scenarios. In this work, we propose a control framework for coordination and collision avoidance in cooperative multi-vehicle missions based on a speed adjustment approach. The overall problem is decoupled in a coordination problem, in order to ensure coordination and inter-vehicle safety among the agents, and a collision-avoidance problem to guarantee the avoidance of non-cooperative moving obstacles. We model the network over which the cooperative vehicles communicate using tools from graph theory, and take communication losses and time delays into account. Finally, through a rigorous Lyapunov analysis, we provide performance bounds and demonstrate the efficacy of the algorithms with numerical and experimental results.<\/jats:p>","DOI":"10.3390\/robotics10010034","type":"journal-article","created":{"date-parts":[[2021,2,13]],"date-time":"2021-02-13T20:48:38Z","timestamp":1613249318000},"page":"34","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0502-8734","authenticated-orcid":false,"given":"Camilla","family":"Tabasso","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Iowa, Iowa City, IA 52240, USA"}]},{"given":"Venanzio","family":"Cichella","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Iowa, Iowa City, IA 52240, USA"}]},{"given":"Syed Bilal","family":"Mehdi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA"}]},{"given":"Thiago","family":"Marinho","sequence":"additional","affiliation":[{"name":"Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA"}]},{"given":"Naira","family":"Hovakimyan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA"}]}],"member":"1968","published-online":{"date-parts":[[2021,2,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"922","DOI":"10.1109\/TASE.2015.2446614","article-title":"Ensemble Coordination Approach in Multi-AGV Systems Applied to Industrial Warehouses","volume":"12","author":"Digani","year":"2015","journal-title":"IEEE Trans. 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