Journal of Optimization Theory and Applications

, Volume 145, Issue 1, pp 76–92

On the Perpetual Collision-Free RHC of Fleets of Vehicles

Open AccessArticle

DOI: 10.1007/s10957-009-9633-1

Cite this article as:
Gonzalez, H. & Polak, E. J Optim Theory Appl (2010) 145: 76. doi:10.1007/s10957-009-9633-1


Receding horizon control is emerging as a very promising technique for the centralized control of fleets of vehicles on land, sea, and in the air. We present a sufficient condition for collision avoidance within a fleet under receding horizon control, over an indefinite period of operation.


Collision avoidanceMulti-agent controlMin-max-min algorithmReceding horizon control
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© The Author(s) 2009

Authors and Affiliations

  1. 1.Department of Electrical Engineering and Computer SciencesUniversity of CaliforniaBerkeleyUSA