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https://hdl.handle.net/20.500.14279/2947| Τίτλος: | Multirobot navigation functions II: towards decentralization | Συγγραφείς: | Loizou, Savvas Dimarogonas, Dimos V. Kyriakopoulos, Kostas J. |
metadata.dc.contributor.other: | Λοΐζου, Σάββας | Λέξεις-κλειδιά: | Robots;Computer simulation;Navigation | Ημερομηνία Έκδοσης: | 2006 | Πηγή: | Stochastic Hybrid Systems : theory and Safety Critical Applications, 2006, Pages 209-253 | Περίληψη: | This is the second part of a two part paper regarding Multirobot Navigation Functions. In this part, we discuss extensions of the centralized scheme presented in the first part, towards decentralization concepts. Both holonomic and nonholonomic kinematic models are considered and the limited sensing capabilities of each agent are taken into account. An extension to dynamic models of the agents' motion is also included. The conflict resolution as well as destination convergence properties are verified in each case through nontrivial computer simulations. | URI: | https://hdl.handle.net/20.500.14279/2947 | ISBN: | 978-3-540-33467-5 | DOI: | 10.1007/11587392_7 | Rights: | © Springer-Verlag Berlin Heidelberg 2006 | Type: | Book Chapter | Affiliation: | National Technical University Of Athens |
| Εμφανίζεται στις συλλογές: | Κεφάλαια βιβλίων/Book chapters |
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