A feedback-based multiagent navigation framework

Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	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	0020-7721	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/16947
dc.subject	navigation functions	en
dc.subject	multiple robots	en
dc.subject	on-line planning	en
dc.subject	centralized control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Theory & Methods	en
dc.subject.classification	Operations Research & Management Science	en
dc.subject.other	EXACT ROBOT NAVIGATION	en
dc.title	A feedback-based multiagent navigation framework	en
heal.type	journalArticle	en
heal.identifier.primary	10.1080/00207720500438597	en
heal.identifier.secondary	http://dx.doi.org/10.1080/00207720500438597	en
heal.language	English	en
heal.publicationDate	2006	en
heal.abstract	In this paper, an on-line multirobot navigation methodology is presented, extending the concept of navigation functions from the single-point-sized holonomic robot domain to the domain of multiple non-point-sized holonomic robots. An appropriate measure of the distance from bad sets, suitable for multirobot navigation, is introduced. The derived closed form analytic solution provides a feedback-based navigation scheme, suitable for implementation, with theoretically guaranteed global convergence and collision avoidance properties. The proposed methodology is validated through non-trivial simulations.	en
heal.publisher	TAYLOR & FRANCIS LTD	en
heal.journalName	INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE	en
dc.identifier.doi	10.1080/00207720500438597	en
dc.identifier.isi	ISI:000239237700005	en
dc.identifier.volume	37	en
dc.identifier.issue	6	en
dc.identifier.spage	377	en
dc.identifier.epage	384	en