Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints

Dimarogonas, DV; Zavlanos, MM; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Zavlanos, MM	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:42:14Z
dc.date.available	2014-03-01T02:42:14Z
dc.date.issued	2003	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30875
dc.subject	Asymptotic Stability	en
dc.subject	Collision Avoidance	en
dc.subject	Global Convergence	en
dc.subject	Input Constraint	en
dc.subject	lyapunov function	en
dc.subject	Motion Control	en
dc.subject	Robot Navigation	en
dc.subject.other	Air traffic management	en
dc.subject.other	Decentralized navigation	en
dc.subject.other	Autonomous agents	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Decentralized control	en
dc.subject.other	Fuel consumption	en
dc.subject.other	Lyapunov methods	en
dc.subject.other	Mobile robots	en
dc.subject.other	Navigation	en
dc.subject.other	Sensors	en
dc.subject.other	Velocity control	en
dc.subject.other	Motion control	en
dc.title	Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2003.1271668	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2003.1271668	en
heal.publicationDate	2003	en
heal.abstract	The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties as well as input requirements are verified through simulations.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2003.1271668	en
dc.identifier.volume	4	en
dc.identifier.spage	3390	en
dc.identifier.epage	3395	en