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https://hdl.handle.net/20.500.14279/2448| Τίτλος: | Decentralized motion control of multiple holonomic agents under input constraints |
| Συγγραφείς: | Dimarogonas, Dimos V. Zavlanos, Michael M. Loizou, Savvas |
| metadata.dc.contributor.other: | Λοΐζου, Σάββας |
| Λέξεις-κλειδιά: | Computer simulation;Mobile robots;Navigation |
| Ημερομηνία Έκδοσης: | 2003 |
| Πηγή: | 42nd IEEE Conference on Decision and Control, 2003, Maui, Hawaii |
| Περίληψη: | The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties as well as input requirements are verified through simulations. |
| URI: | https://hdl.handle.net/20.500.14279/2448 |
| ISSN: | 01912216 |
| DOI: | 10.1109/CDC.2003.1271668 |
| Rights: | © IEEE |
| Type: | Conference Papers |
| Affiliation: | National Technical University Of Athens |
| Appears in Collections: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
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