Multirobot navigation functions I

Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:24:41Z
dc.date.available	2014-03-01T01:24:41Z
dc.date.issued	2006	en
dc.identifier.issn	0170-8643	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/17396
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-33947666039&partnerID=40&md5=f220a854f950fd6454e713ee18147cf5	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Information Systems	en
dc.subject.other	EXACT ROBOT NAVIGATION	en
dc.subject.other	NONSMOOTH SYSTEMS	en
dc.subject.other	MOBILE ROBOTS	en
dc.subject.other	AVOIDANCE	en
dc.subject.other	MANIFOLDS	en
dc.title	Multirobot navigation functions I	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	2006	en
heal.abstract	This is the first of two chapters dealing with multirobot navigation. In this chapter a centralized methodology is presented for navigating a team of multiple robotic agents. The solution is a closed form feedback based navigation scheme. The considered robot kinematics include holonomic and non-holonomic constraints and are handled under the unifying framework of multirobot navigation functions. The derived methodology has theoretically guaranteed global convergence and collision avoidance properties. The feasibility of the proposed navigation scheme is verified through non-trivial computer simulations. © Springer-Verlag Berlin Heidelberg 2006.	en
heal.publisher	SPRINGER-VERLAG BERLIN	en
heal.journalName	Lecture Notes in Control and Information Sciences	en
heal.bookName	LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES	en
dc.identifier.isi	ISI:000241528000006	en
dc.identifier.volume	337	en
dc.identifier.spage	171	en
dc.identifier.epage	207	en