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A feedback control scheme for multiple independent dynamic non-point agents

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dc.contributor.author Dimarogonas, DV en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T01:23:24Z
dc.date.available 2014-03-01T01:23:24Z
dc.date.issued 2006 en
dc.identifier.issn 0020-7179 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/16945
dc.subject Collision Avoidance en
dc.subject Computer Simulation en
dc.subject Feedback Control en
dc.subject Global Convergence en
dc.subject Multi Agent System en
dc.subject.classification Automation & Control Systems en
dc.subject.other Collision avoidance en
dc.subject.other Computer simulation en
dc.subject.other Constraint theory en
dc.subject.other Mathematical models en
dc.subject.other Motion control en
dc.subject.other Multi agent systems en
dc.subject.other Robotics en
dc.subject.other Feedback stabilization en
dc.subject.other Global convergence en
dc.subject.other Methodology en
dc.subject.other Multiple nonholonomic agents en
dc.subject.other Feedback control en
dc.title A feedback control scheme for multiple independent dynamic non-point agents en
heal.type journalArticle en
heal.identifier.primary 10.1080/00207170600867123 en
heal.identifier.secondary http://dx.doi.org/10.1080/00207170600867123 en
heal.language English en
heal.publicationDate 2006 en
heal.abstract The Decentralized Navigation Functions' ( DNF) based methodology, established in our previous work ( D. V. Dimarogonas, M. M. Zavlanos, S. G. Loizou and K. J. Kyriakopoulos, "Decentralized motion control of multiple holonomic agents under input constraints'', in 42nd IEEE Conf. Deci. Cont., 2003, pp. 3390 - 3395 and S. G. Loizou, D. V. Dimarogonas and K. J. Kyriakopoulos, "Decentralized feedback stabilization of multiple nonholonomic agents'', in 2004 IEEE Int. Conf. on Robotics and Autom., 2004, pp. 3012 - 3017) on multi-agent systems with kinematic models of motion, is extended to the case where dynamic models of motion for both holonomic and nonholonomic agents must be treated. The proposed control scheme guarantees collision avoidance and global convergence of the multi-agent team to the desired goal configuration. The volume of each agent is taken into account and non-point models are considered. The satisfaction of the imposed system specifications under the proposed control scheme are verified and depicted through non-trivial computer simulations. en
heal.publisher TAYLOR & FRANCIS LTD en
heal.journalName International Journal of Control en
dc.identifier.doi 10.1080/00207170600867123 en
dc.identifier.isi ISI:000239926200010 en
dc.identifier.volume 79 en
dc.identifier.issue 12 en
dc.identifier.spage 1613 en
dc.identifier.epage 1623 en


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