Decentralized navigation functions for multiple robotic agents with limited sensing capabilities

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:26:04Z
dc.date.available	2014-03-01T01:26:04Z
dc.date.issued	2007	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/17915
dc.subject	Autonomous agents	en
dc.subject	Decentralized control	en
dc.subject	Motion planning	en
dc.subject	Multi agent systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Autonomous agents	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Motion planning	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Navigation systems	en
dc.subject.other	Decentralized navigation functions	en
dc.subject.other	Global convergence properties	en
dc.subject.other	Lyapunov stability techniques	en
dc.subject.other	Robotic agents	en
dc.subject.other	Decentralized control	en
dc.title	Decentralized navigation functions for multiple robotic agents with limited sensing capabilities	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s10846-006-9113-x	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s10846-006-9113-x	en
heal.language	English	en
heal.publicationDate	2007	en
heal.abstract	The decentralized navigation function methodology, established in our previous work for navigation of multiple holonomic agents with global sensing capabilities is extended to the case of local sensing capabilities. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations. © Springer Science+Business Media B.V. 2007.	en
heal.publisher	SPRINGER	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1007/s10846-006-9113-x	en
dc.identifier.isi	ISI:000244455300006	en
dc.identifier.volume	48	en
dc.identifier.issue	3	en
dc.identifier.spage	411	en
dc.identifier.epage	433	en