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Title: Multirobot navigation functions II: towards decentralization
Authors: Loizou, Savvas 
Dimarogonas, Dimos V.
Kyriakopoulos, Kostas J.
Keywords: Robots;Computer simulation;Navigation
Issue Date: 2006
Publisher: Springer
Source: Stochastic Hybrid Systems : theory and Safety Critical Applications, 2006, Pages 209-253
Abstract: This is the second part of a two part paper regarding Multirobot Navigation Functions. In this part, we discuss extensions of the centralized scheme presented in the first part, towards decentralization concepts. Both holonomic and nonholonomic kinematic models are considered and the limited sensing capabilities of each agent are taken into account. An extension to dynamic models of the agents' motion is also included. The conflict resolution as well as destination convergence properties are verified in each case through nontrivial computer simulations.
ISBN: 978-3-540-33467-5
DOI: 10.1007/11587392_7
Rights: © Springer-Verlag Berlin Heidelberg 2006
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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