On synthesizing team target controls under obstacles and collision avoidance

This paper deals with the problem of target control synthesis under obstacles for a group of systems subjected to conditions of collision avoidance. They also satisfy a team property of being obliged to lie within a given moving convex reference set of restricted volume that may be reconfigured to avoid the obstacles and is directed towards the target set. The specification of the desired on-line team feedback control strategies then relies on calculating related backward reachability sets, which is achieved through duality methods of nonlinear analysis. An optimization problem for team target control is finally solved.