LAUSR

This paper proposes a networked event-based method for collision avoidance of moving objects in a leader-follower structure. It extends the results of a previous paper to cope with communication constraints from an information theoretical perspective. The objects are locally controlled and connected by a communication network, in which transmission delays and packet losses occur. In the considered setting, the leader can freely change its trajectory while the follower has to avoid collisions by predicting the leader movement, invoking communication at event times that indicate a large uncertainty of the prediction result and adapting its trajectory appropriately. The current properties of the network are determined at each event time by a channel estimation method and are taken into account when generating events and planning the trajectory. In contrast to the existing literature, trajectories are adapted online where the collision-free movement is guaranteed despite of the limited communication by considering the network effects. A simulation study with two quadrotors shows that collisions can only be avoided if the results of the channel estimation are considered.