Title: A Hybrid Framework for Multi-Vehicle Collision Avoidance,
Abstract: With the recent surge of interest in UAVs for civilian services, the
importance of developing tractable multi-agent analysis techniques that provide
safety and performance guarantees have drastically increased. Hamilton-Jacobi
(HJ) reachability has successfully provided these guarantees to small-scale
systems and is flexible in terms of system dynamics. However, the exponential
complexity scaling of HJ reachability with respect to system dimension prevents
its direct application to larger-scale problems where the number of vehicles is
greater than two. In this paper, we propose a collision avoidance algorithm
using a hybrid framework for N+1 vehicles through higher-level control logic
given any N-vehicle collision avoidance algorithm. Our algorithm conservatively
approximates a guaranteed-safe region in the joint state space of the N+1
vehicles and produces a safety-preserving controller. In addition, our
algorithm does not incur significant additional computation cost. We
demonstrate our proposed method in simulation.