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https://hdl.handle.net/20.500.14279/14053| Title: | Coordination of multiple non-holonomic agents with input constraints | Authors: | Oikonomopoulos, Apollon S. Loizou, Savvas Kyriakopoulos, Kostas J. |
Major Field of Science: | Engineering and Technology | Field Category: | Mechanical Engineering | Keywords: | Formal verification tools;Input constraints;Kinematic constraints;Liveness;Model checker;Multi-agent coordinations;Nonholonomics | Issue Date: | 12-May-2009 | Source: | IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 12 May 2009 through 17 May 2009, Category numberCFP09RAA-PRT | Conference: | IEEE International Conference on Robotics and Automation | Abstract: | In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained nonholonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements. © 2009 IEEE. | DOI: | 10.1109/ROBOT.2009.5152397 | Type: | Conference Papers | Affiliation : | National Technical University Of Athens Frederick University |
Publication Type: | Peer Reviewed |
| Appears in Collections: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
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