Decentralized feedback stabilization of multiple nonholonomic agents

Loizou, SG; Dimarogonas, DV; Kyriakopoulos, KJ

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