Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.14279/14054
Title: A feedback-based multiagent navigation framework
Authors: Loizou, Savvas 
Kyriakopoulos, Kostas J. 
Major Field of Science: Engineering and Technology
Field Category: Mechanical Engineering
Keywords: Centralized control;Multiple robots;Navigation functions;On-line planning
Issue Date: 15-May-2006
Source: International Journal of Systems Science, Volume 37, Issue 6, 15 May 2006, Pages 377-384
Journal: International Journal of Systems Science 
Abstract: In this paper, an on-line multirobot navigation methodology is presented, extending the concept of navigation functions from the single-point-sized holonomic robot domain to the domain of multiple non-point-sized holonomic robots. An appropriate measure of the distance from bad sets, suitable for multirobot navigation, is introduced. The derived closed form analytic solution provides a feedback-based navigation scheme, suitable for implementation, with theoretically guaranteed global convergence and collision avoidance properties. The proposed methodology is validated through non-trivial simulations. © 2006, Taylor & Francis Group, LLC. All rights reserved.
ISSN: 14645319
DOI: 10.1080/00207720500438597
Type: Article
Affiliation : National Technical University Of Athens 
Publication Type: Peer Reviewed
Appears in Collections:Άρθρα/Articles

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