01640nas a2200169   4500008004100000245010400041210006900145300001400214520101200228653002101240653001301261100001901274700001701293700001601310700001501326856012901341       2006                        eng d00aProbabilistic verification of a decentralized policy for conflict resolution in multi-agent systems0 aProbabilistic verification of a decentralized policy for conflic  a2448-24533 a<p>In this paper, we consider a decentralized cooperative control policy proposed recently for steering multiple non-holonomic vehicles between assigned start and goal configurations while avoiding collisions. The policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles, if initial configurations satisfy certain conditions. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. In this paper, we introduce a condition on the final vehicle configurations, which we conjecture to be sufficient for guaranteeing liveness. Because of the overwhelming complexity of proving the sufficiency of such condition, we assess the correctness of the conjecture in probability through the analysis of the results of a large number of randomized experiments.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aScordio, V G1 aFrazzoli, E1 aBicchi, A.  uhttp://615830.rige.asia/publications/probabilistic-verification-decentralized-policy-conflict-resolution-multi-agent-systems