HEAL DSpace

Decentralized feedback stabilization of multiple nonholonomic agents

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dc.contributor.author Loizou, SG en
dc.contributor.author Dimarogonas, DV en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T02:42:33Z
dc.date.available 2014-03-01T02:42:33Z
dc.date.issued 2004 en
dc.identifier.issn 10504729 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/31046
dc.subject Air Traffic Management en
dc.subject Feedback Stabilization en
dc.subject multiagent system en
dc.subject Collision Avoidance en
dc.subject Computer Simulation en
dc.subject Decentralized Control en
dc.subject Feedback Control en
dc.subject Global Convergence en
dc.subject Management System en
dc.subject.other Air navigation en
dc.subject.other Air traffic control en
dc.subject.other Algorithms en
dc.subject.other Asymptotic stability en
dc.subject.other Collision avoidance en
dc.subject.other Computer simulation en
dc.subject.other Decentralized control en
dc.subject.other Feedback control en
dc.subject.other Lyapunov methods en
dc.subject.other Robotics en
dc.subject.other Air traffic management system en
dc.subject.other Decentralized multiagent navigation en
dc.subject.other Dipolar navigation en
dc.subject.other Global convergence en
dc.subject.other Nonholonomic agents en
dc.subject.other Multi agent systems en
dc.title Decentralized feedback stabilization of multiple nonholonomic agents en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ROBOT.2004.1307519 en
heal.identifier.secondary http://dx.doi.org/10.1109/ROBOT.2004.1307519 en
heal.publicationDate 2004 en
heal.abstract This paper represents an extension of our previous work, on multiagent navigation to the case of decentralized control of multiple nonholonomic vehicles. Our main motivation comes from the field of air traffic management systems and from the field of micro robotic multiagent systems. A discontinuous feedback control scheme, based on dipolar navigation fields, is implemented and integrator backstepping is applied to suppress chattering behavior. The methodology has guaranteed global convergence and collision avoidance properties, which are verified by nontrivial computer simulations. en
heal.journalName Proceedings - IEEE International Conference on Robotics and Automation en
dc.identifier.doi 10.1109/ROBOT.2004.1307519 en
dc.identifier.volume 2004 en
dc.identifier.issue 3 en
dc.identifier.spage 3012 en
dc.identifier.epage 3017 en


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