On the rendezvous problem for multiple nonholonomic agents

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:26:48Z
dc.date.available	2014-03-01T01:26:48Z
dc.date.issued	2007	en
dc.identifier.issn	0018-9286	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18228
dc.subject	Cooperative control	en
dc.subject	Decentralized control	en
dc.subject	Nonholonomic agents	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.other	Feedback control	en
dc.subject.other	Graph theory	en
dc.subject.other	Lyapunov methods	en
dc.subject.other	Cooperative control	en
dc.subject.other	Nonholonomic agents	en
dc.subject.other	Decentralized control	en
dc.title	On the rendezvous problem for multiple nonholonomic agents	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TAC.2007.895897	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TAC.2007.895897	en
heal.language	English	en
heal.publicationDate	2007	en
heal.abstract	In this note, a decentralized feedback control strategy that drives a system of multiple nonholonomic unicycles to a rendezvous point in terms of both position and orientation is introduced. The proposed nonholonomic control law is discontinuous and time-invariant and using tools from nonsmooth Lyapunov theory and graph theory the stability of the overall system is examined. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph that represents the inter-agent communication topology. The control law is first defined in order to guarantee connectivity maintenance for an initially connected communication graph. Moreover, the cases of static and dynamic communication topologies are treated as corollaries of the proposed framework. © 2007 IEEE.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Transactions on Automatic Control	en
dc.identifier.doi	10.1109/TAC.2007.895897	en
dc.identifier.isi	ISI:000246670300017	en
dc.identifier.volume	52	en
dc.identifier.issue	5	en
dc.identifier.spage	916	en
dc.identifier.epage	922	en