Coordination of multiple non-holonomic agents with input constraints

Please use this identifier to cite or link to this item: 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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