On the Perpetual Collision-Free RHC of Fleets of Vehicles

Open Access


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 avoidance Multi-agent control Min-max-min algorithm Receding horizon control 

Copyright information

© The Author(s) 2009

Authors and Affiliations

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

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