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

Dimarogonas, DV; Kyriakopoulos, KJ

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