A Differential Game Approach to Multi-agent Collision Avoidance

A multi-agent system consisting of N agents is considered. The problem of steering each agent from its initial position to a desired goal while avoiding collisions with obstacles and other agents is studied. This problem, referred to as the multi-agent collision avoidance problem, is formulated as a differential game. Dynamic feedback strategies that approximate the feedback Nash equilibrium solutions of the differential game are constructed and it is shown that, provided certain assumptions are satisfied, these guarantee that the agents reach their targets while avoiding collisions.