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Title: Decentralized feedback stabilization of multiple nonholonomic agents
Authors: Dimarogonas, Dimos V.
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Computer simulation;Feedback control systems;Lyapunov functions;Algorithms
Issue Date: 2004
Publisher: IEEE
Source: IEEE International Conference on Robotics and Automation, 2004, New Orleans, United States
Abstract: This paper represents an extension of our previous work, on multiagent navigation to the case of decentralized control of multiple nonholonomic vehicles. Our main motivation comes from the field of air traffic management systems and from the field of micro robotic multiagent systems. A discontinuous feedback control scheme, based on dipolar navigation fields, is implemented and integrator backstepping is applied to suppress chattering behavior. The methodology has guaranteed global convergence and collision avoidance properties, which are verified by nontrivial computer simulations.
ISSN: 10504729
Rights: © IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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