# A Hybrid Framework for Multi-Vehicle Collision Avoidance

arXiv: https://arxiv.org/abs/1703.07375 · HTML: https://mlsanity.com/paper/1703.07375/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Mar 2017.

## Built on by (most cited first, 1 of 1)

- [An Empirical Analysis of the Use of Real-Time Reachability for the Safety Assurance of Autonomous Vehicles](https://mlsanity.com/paper/2205.01419/) (2022)

## Abstract (arXiv)

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.