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Title: A feedback stabilization and collision avoidance scheme for multiple independent non-point agents
Authors: Dimarogonas, Dimos V.
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Robotics;Navigation;Lyapunov functions
Issue Date: 2006
Publisher: Elsevier
Source: Automatica, 2006, Volume 42, Issue 2, Pages 229-243
Abstract: 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.
ISSN: 00051098
Rights: © 2005 Elsevier Ltd
Type: Article
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