Please use this identifier to cite or link to this item:
|Title:||A feedback stabilization and collision avoidance scheme for multiple independent non-point agents||Authors:||Dimarogonas, Dimos V.
Kyriakopoulos, Kostas J.
|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.||URI:||http://ktisis.cut.ac.cy/handle/10488/7818||ISSN:||00051098||DOI:||10.1016/j.automatica.2005.09.019||Rights:||© 2005 Elsevier Ltd|
|Appears in Collections:||Άρθρα/Articles|
Show full item record
checked on Feb 5, 2017
WEB OF SCIENCETM
checked on Feb 12, 2017
checked on Feb 13, 2017
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.