Multirobot navigation functions II: Towards decentralization

Dimarogonas, DV; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
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/123456789/17397
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-33947676323&partnerID=40&md5=3e24e2782198560fa1a8642dfc529780	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Information Systems	en
dc.subject.other	HYBRID SYSTEMS	en
dc.subject.other	COORDINATION	en
dc.subject.other	ROBOTS	en
dc.title	Multirobot navigation functions II: Towards decentralization	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	2006	en
heal.abstract	This is the second part of a two part paper regarding Multirobot Navigation Functions. In this part, we discuss extensions of the centralized scheme presented in the first part, towards decentralization concepts. Both holonomic and nonholonomic kinematic models are considered and the limited sensing capabilities of each agent are taken into account. An extension to dynamic models of the agents' motion is also included. The conflict resolution as well as destination convergence properties are verified in each case through nontrivial 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:000241528000007	en
dc.identifier.volume	337	en
dc.identifier.spage	209	en
dc.identifier.epage	253	en