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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