Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints

Journal Article

The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties as well as input requirements are verified through simulations.

Full Text

Duke Authors

Cited Authors

  • Dimarogonas, DV; Zavlanos, MM; Loizou, SG; Kyriakopoulos, KJ

Published Date

  • January 1, 2003

Published In

Volume / Issue

  • 4 /

Start / End Page

  • 3390 - 3395

Electronic International Standard Serial Number (EISSN)

  • 2576-2370

International Standard Serial Number (ISSN)

  • 0743-1546

Digital Object Identifier (DOI)

  • 10.1109/CDC.2003.1271668

Citation Source

  • Scopus