A feedback stabilization and collision avoidance scheme for multiple independent non-point agents

Dimarogonas, DV; Loizou, SG; Kyriakopoulos, KJ; Zavlanos, MM

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.contributor.author	Zavlanos, MM	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	0005-1098	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/16946
dc.subject	Autonomous systems	en
dc.subject	Decentralized control	en
dc.subject	Motion planning	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.other	Autonomous systems	en
dc.subject.other	Feedback stabilization	en
dc.subject.other	Lyapunov functions	en
dc.subject.other	Non-point agents	en
dc.subject.other	Asymptotic stability	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Convergence of numerical methods	en
dc.subject.other	Feedback	en
dc.subject.other	Functions	en
dc.subject.other	Lyapunov methods	en
dc.subject.other	System stability	en
dc.subject.other	Robotics	en
dc.title	A feedback stabilization and collision avoidance scheme for multiple independent non-point agents	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.automatica.2005.09.019	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.automatica.2005.09.019	en
heal.language	English	en
heal.publicationDate	2006	en
heal.abstract	A navigation functions' based methodology, established in our previous work for centralized multiple robot navigation, is extended to address the problem of decentralized navigation. 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 are verified through simulations. (c) 2005 Elsevier Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Automatica	en
dc.identifier.doi	10.1016/j.automatica.2005.09.019	en
dc.identifier.isi	ISI:000234878400004	en
dc.identifier.volume	42	en
dc.identifier.issue	2	en
dc.identifier.spage	229	en
dc.identifier.epage	243	en