Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Hybrid Framework for Multi-Vehicle Collision Avoidance   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.

36
The categories of this paper are: cmp-lg
11
The categories of this paper are: hep-lat
16
The categories of this paper are: stat
35
The categories of this paper are: mtrl-th
23
The categories of this paper are: solv-int
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
29
The categories of this paper are: funct-an
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The categories of this paper are: alg-geom
27
The categories of this paper are: comp-gas
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The categories of this paper are: eess
5
The categories of this paper are: gr-qc
3
The categories of this paper are: physics
12
The categories of this paper are: nucl-th
26
The categories of this paper are: bayes-an
24
The categories of this paper are: dg-ga