A feedback stabilization and collision avoidance scheme for multiple independent non-point agents
Publication
, Journal Article
Dimarogonas, DV; Loizou, SG; Kyriakopoulos, KJ; Zavlanos, MM
Published in: Automatica
February 1, 2006
A navigation functions' based methodology, established in our previous work for centralized multiple robot navigation, is extended to address the problem of decentralized navigation. 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 are verified through simulations. © 2005 Elsevier Ltd. All rights reserved.
Duke Scholars
Published In
Automatica
DOI
ISSN
0005-1098
Publication Date
February 1, 2006
Volume
42
Issue
2
Start / End Page
229 / 243
Related Subject Headings
- Industrial Engineering & Automation
- 49 Mathematical sciences
- 46 Information and computing sciences
- 40 Engineering
- 09 Engineering
- 08 Information and Computing Sciences
- 01 Mathematical Sciences
Citation
APA
Chicago
ICMJE
MLA
NLM
Dimarogonas, D. V., Loizou, S. G., Kyriakopoulos, K. J., & Zavlanos, M. M. (2006). A feedback stabilization and collision avoidance scheme for multiple independent non-point agents. Automatica, 42(2), 229–243. https://doi.org/10.1016/j.automatica.2005.09.019
Dimarogonas, D. V., S. G. Loizou, K. J. Kyriakopoulos, and M. M. Zavlanos. “A feedback stabilization and collision avoidance scheme for multiple independent non-point agents.” Automatica 42, no. 2 (February 1, 2006): 229–43. https://doi.org/10.1016/j.automatica.2005.09.019.
Dimarogonas DV, Loizou SG, Kyriakopoulos KJ, Zavlanos MM. A feedback stabilization and collision avoidance scheme for multiple independent non-point agents. Automatica. 2006 Feb 1;42(2):229–43.
Dimarogonas, D. V., et al. “A feedback stabilization and collision avoidance scheme for multiple independent non-point agents.” Automatica, vol. 42, no. 2, Feb. 2006, pp. 229–43. Scopus, doi:10.1016/j.automatica.2005.09.019.
Dimarogonas DV, Loizou SG, Kyriakopoulos KJ, Zavlanos MM. A feedback stabilization and collision avoidance scheme for multiple independent non-point agents. Automatica. 2006 Feb 1;42(2):229–243.
Published In
Automatica
DOI
ISSN
0005-1098
Publication Date
February 1, 2006
Volume
42
Issue
2
Start / End Page
229 / 243
Related Subject Headings
- Industrial Engineering & Automation
- 49 Mathematical sciences
- 46 Information and computing sciences
- 40 Engineering
- 09 Engineering
- 08 Information and Computing Sciences
- 01 Mathematical Sciences