Event-Triggered Collision-Free Formation Control of Symmetric-Steering Vehicles Using Generalized p-Norm and Smooth Risk Metrics

This paper presents a novel closed-form feedback framework for safe formation control of symmetric-steering autonomous vehicles. A salient feature of the framework is the incorporation of a generalized p-norm distance metric, which enhances adaptability in complex environments, particularly when navigating irregular obstacles. Collision avoidance is strengthened through piecewise risk assessment functions with smooth curvature transitions and an event-triggered mechanism that minimizes unnecessary maneuvers. Convergence and safety are rigorously verified using generalized Lyapunov analysis for non-smooth systems. Extensive simulations confirm the framework’s effectiveness in achieving precise formation tracking and robust cooperative collision avoidance in complex scenarios.