Decentralized Feedback Stabilization and Collision Avoidance of Multiple Agents

Dimarogonas, D; Loizou, S; Kyriakopoulos, K; Zavlanos, M

dc.contributor.author	Dimarogonas, D	en
dc.contributor.author	Loizou, S	en
dc.contributor.author	Kyriakopoulos, K	en
dc.contributor.author	Zavlanos, M	en
dc.date.accessioned	2014-03-01T01:53:18Z
dc.date.available	2014-03-01T01:53:18Z
dc.date.issued	2004	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/26949
dc.subject	Collision Avoidance	en
dc.subject	Feedback Stabilization	en
dc.subject	lyapunov function	en
dc.subject	Robot Navigation	en
dc.title	Decentralized Feedback Stabilization and Collision Avoidance of Multiple Agents	en
heal.type	journalArticle	en
heal.publicationDate	2004	en
heal.abstract	The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymp- totic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of	en