Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints

We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed algorithm and control schemes.