Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints
Publication
, Journal Article
Dimarogonas, DV; Zavlanos, MM; Loizou, SG; Kyriakopoulos, KJ
Published in: Proceedings of the IEEE Conference on Decision and Control
January 1, 2003
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.
Duke Scholars
Published In
Proceedings of the IEEE Conference on Decision and Control
DOI
EISSN
2576-2370
ISSN
0743-1546
Publication Date
January 1, 2003
Volume
4
Start / End Page
3390 / 3395
Citation
APA
Chicago
ICMJE
MLA
NLM
Dimarogonas, D. V., Zavlanos, M. M., Loizou, S. G., & Kyriakopoulos, K. J. (2003). Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints. Proceedings of the IEEE Conference on Decision and Control, 4, 3390–3395. https://doi.org/10.1109/CDC.2003.1271668
Dimarogonas, D. V., M. M. Zavlanos, S. G. Loizou, and K. J. Kyriakopoulos. “Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints.” Proceedings of the IEEE Conference on Decision and Control 4 (January 1, 2003): 3390–95. https://doi.org/10.1109/CDC.2003.1271668.
Dimarogonas DV, Zavlanos MM, Loizou SG, Kyriakopoulos KJ. Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints. Proceedings of the IEEE Conference on Decision and Control. 2003 Jan 1;4:3390–5.
Dimarogonas, D. V., et al. “Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints.” Proceedings of the IEEE Conference on Decision and Control, vol. 4, Jan. 2003, pp. 3390–95. Scopus, doi:10.1109/CDC.2003.1271668.
Dimarogonas DV, Zavlanos MM, Loizou SG, Kyriakopoulos KJ. Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints. Proceedings of the IEEE Conference on Decision and Control. 2003 Jan 1;4:3390–3395.
Published In
Proceedings of the IEEE Conference on Decision and Control
DOI
EISSN
2576-2370
ISSN
0743-1546
Publication Date
January 1, 2003
Volume
4
Start / End Page
3390 / 3395