Conflict Resolution for Autonomous Vehicles: A Case Study in Hierarchical Control Design
Egerstedt, Magnus B.
Martin, Clyde F.
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In this paper we consider the problem of conflict avoidance for autonomous systems using a hierarchical control strategy that we establish using the notion of predicate consistent abstractions. We apply our proposed hierarchical design methodology to the case when a number of autonomous vehicles are asked to approach a single terminal in a computationally feasible, yet safe and orderly manner.