  In this paper, a novel and innovative methodology for feasible motion
planning in the multi-agent system is developed. On the basis of velocity
obstacles characteristics, the chance constraints are formulated in the
receding horizon control (RHC) problem, and geometric information of collision
cones is used to generate the feasible regions of velocities for the host
agent. By this approach, the motion planning is conducted at the velocity level
instead of the position level. Thus, it guarantees a safer collision-free
trajectory for the multi-agent system, especially for the systems with
high-speed moving agents. Moreover, a probability threshold of potential
collisions can be satisfied during the motion planning process. In order to
validate the effectiveness of the methodology, different scenarios for multiple
agents are investigated, and the simulation results clearly show that the
proposed approach can effectively avoid potential collisions with a collision
probability less than a specific threshold.
