Trajectory planning for multi-vehicle system considering network connectivity and collision avoidance

In this paper we focus on keeping network connectivity and collision avoidance of multi-vehicle systems. Because a multi-hop wireless network between vehicles is often used in order to share informations, keeping the network connectivity is important concern. Vehicles need to get close when they desire stable communication, but on the other hand, vehicles may collide when they get too close. Here we propose a online trajectory planning method based on a receding horizon control, and this method fixes keeping connectivity and collision avoidance simultaneously. We describe a formulation of the system and the problem, the trajectory planning method we proposed, and show a computer simulation result.