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This paper introduces a decentralized collaboration mechanism for self-driving vehicles at intersections, employing a subsumption scheme that re-uses individual agents’ motion planning. Agents exchange intended trajectories and adjust their decision-making based on received intentions. Agents’ action selection is carried out via competition of (many) motion plans. The results of this competition are emergent, safe behaviors. Evaluation with two and three vehicles at an orthogonal intersection showcases effective collaboration, where safety is ensured by reusing agents’ motion planning within the subsumption scheme.

For a point mass subject to Coulomb friction in feedback with a PID controller, we consider a model based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase and having unique solutions. We study the set of all equilibria and we establish its global asymptotic stability using a discontinuous Lyapunov-like function, and a suitable LaSalle's invariance principle. The well-posedness of the proposed model allows to establish useful robustness results, including an ISS property from a suitable input in a perturbed context. Simulation results are also given to illustrate our statements. [ABSTRACT FROM AUTHOR]