Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM

• URL: http://arxiv.org/abs/2603.21913v1
• Date: Mon, 23 Mar 2026 12:34:18 GMT
• Title: Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM
• Abstract summary: In structured multi-agent projects, agents often must follow predefined routes, making rerouting or impossible.<n>This paper addresses route-constrained multi-agent coordination by optimizing waypoint times while preserving each agent's assigned waypoint order and nominal route assignment.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage times while preserving each agent's assigned waypoint order and nominal route assignment. A differentiable surrogate trajectory model maps waypoint timings to smooth position profiles and captures first-order tracking lag, enabling pairwise safety to be encoded through distance-based penalties evaluated on a dense temporal grid spanning the mission horizon. The resulting nonlinear and nonconvex velocity-scheduling problem is solved using an inexact-projection Alternating Direction Method of Multipliers (ADMM) algorithm that combines structured timing updates with gradient-based collision-correction steps and avoids explicit integer sequencing variables. Numerical experiments on random-crossing, bottleneck, and graph-based network scenarios show that the proposed method computes feasible and time-efficient schedules across a range of congestion levels and yields shorter mission completion times than a representative hierarchical baseline in the tested bottleneck cases.

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