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https://hdl.handle.net/20.500.14279/24621
Πεδίο DC | Τιμή | Γλώσσα |
---|---|---|
dc.contributor.author | Loizou, Savvas | - |
dc.contributor.author | Lui, Dario Giuseppe | - |
dc.contributor.author | Petrillo, Alberto | - |
dc.contributor.author | Santini, Stefania | - |
dc.date.accessioned | 2022-02-22T11:57:44Z | - |
dc.date.available | 2022-02-22T11:57:44Z | - |
dc.date.issued | 2021 | - |
dc.identifier.citation | IEEE Transactions on Automatic Control, 2021 | en_US |
dc.identifier.issn | 00189286 | - |
dc.identifier.uri | https://hdl.handle.net/20.500.14279/24621 | - |
dc.description.abstract | This technical note addresses the formation stabilization problem for Multi-Agent Systems composed of dynamical agents moving within an obstacle-cluttered environment and sharing information via non ideal wireless communication networks. A novel distributed cooperative Navigation Functions-based control strategy is proposed, that drives the MAS to a desired formation without any collision, while counteracting the presence of unavoidable communication impairments originated by the wireless network. By recasting the formation stabilization problem into a consensus one and by combining the Lyapunov stability theory with Halanay's Lemma, Uniformly Ultimately Bounded stability of the whole delayed closed-loop system is proved. In the special case of an obstacle-free environment, our approach guarantees exponential stability of the closed-loop networked system. The stability analysis also provides an estimation of the delay-upper bound and allows to evaluate the stability margins with respect to the latencies that can be observed in practical application scenarios. Theoretical derivations are verified through non-trivial simulations. | en_US |
dc.format | en_US | |
dc.language.iso | en | en_US |
dc.relation.ispartof | IEEE Transactions on Automatic Control | en_US |
dc.rights | © IEEE | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Communication networks | en_US |
dc.subject | Communication Time-Varying Delays | en_US |
dc.subject | Delays | en_US |
dc.subject | Distributed Navigation Functions-based Control | en_US |
dc.subject | Formation Control | en_US |
dc.subject | Halanay Lemma | en_US |
dc.subject | Lyapunov Theory | en_US |
dc.subject | Multi-agent systems | en_US |
dc.subject | Multi-Agent Systems | en_US |
dc.subject | Navigation | en_US |
dc.subject | Protocols | en_US |
dc.subject | Synchronization | en_US |
dc.subject | Task analysis | en_US |
dc.title | Connectivity Preserving Formation Stabilization in an obstacle-cluttered environment in the presence of time-varying communication delays | en_US |
dc.type | Article | en_US |
dc.collaboration | Cyprus University of Technology | en_US |
dc.collaboration | University of Naples Federico II | en_US |
dc.subject.category | Electrical Engineering - Electronic Engineering - Information Engineering | en_US |
dc.journals | Subscription | en_US |
dc.country | Cyprus | en_US |
dc.country | Italy | en_US |
dc.subject.field | Engineering and Technology | en_US |
dc.publication | Peer Reviewed | en_US |
dc.identifier.doi | 10.1109/TAC.2021.3119003 | en_US |
dc.identifier.scopus | 2-s2.0-85117068264 | - |
dc.identifier.url | https://api.elsevier.com/content/abstract/scopus_id/85117068264 | - |
cut.common.academicyear | 2020-2021 | en_US |
item.openairecristype | http://purl.org/coar/resource_type/c_6501 | - |
item.grantfulltext | none | - |
item.cerifentitytype | Publications | - |
item.fulltext | No Fulltext | - |
item.languageiso639-1 | en | - |
item.openairetype | article | - |
crisitem.author.dept | Department of Mechanical Engineering and Materials Science and Engineering | - |
crisitem.author.faculty | Faculty of Engineering and Technology | - |
crisitem.author.orcid | 0000-0003-4083-9946 | - |
crisitem.author.parentorg | Faculty of Engineering and Technology | - |
crisitem.journal.journalissn | 00189286 | - |
crisitem.journal.publisher | IEEE | - |
Εμφανίζεται στις συλλογές: | Άρθρα/Articles |
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