A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:03Z
dc.date.available	2014-03-01T02:43:03Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31199
dc.subject	Asymptotic Stability	en
dc.subject	Collision Avoidance	en
dc.subject	Feedback Stabilization	en
dc.subject	Global Convergence	en
dc.subject	Invariance Principle	en
dc.subject	Mechanical Systems	en
dc.subject.other	Asymptotic stability	en
dc.subject.other	Computer simulation	en
dc.subject.other	Convergence of numerical methods	en
dc.subject.other	Decentralized control	en
dc.subject.other	Knowledge acquisition	en
dc.subject.other	Navigation systems	en
dc.subject.other	Decentralized navigation	en
dc.subject.other	Nonholonomic non-point agents	en
dc.subject.other	Rotational velocity	en
dc.subject.other	Collision avoidance	en
dc.title	A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/.2005.1467120	en
heal.identifier.secondary	http://dx.doi.org/10.1109/.2005.1467120	en
heal.identifier.secondary	1467120	en
heal.publicationDate	2005	en
heal.abstract	A navigation functions' based methodology, established previously for decentralized navigation of multiple holonomic agents, is extended to address the problem of decentralized navigation of multiple nonholonomic agents. In contrast to our previous work, each agent does not require any knowledge about the velocities and the desired destinations of the other members of the team. Furthermore, the control inputs are the acceleration and rotational velocity of each vehicle, coping in this way with realistic dynamics of classes of mechanical systems. Asymptotic stability is guaranteed by LaSalle's Invariance Principle for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations. ©2005 IEEE.	en
heal.journalName	Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05	en
dc.identifier.doi	10.1109/.2005.1467120	en
dc.identifier.volume	2005	en
dc.identifier.spage	820	en
dc.identifier.epage	825	en