Approximate control of formations of multiagent systems

Lionis, G; Kyriakopoulos, KJ

dc.contributor.author	Lionis, G	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:08Z
dc.date.available	2014-03-01T02:43:08Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31252
dc.subject	multiagent system	en
dc.subject	Satisfiability	en
dc.subject.other	Approximation theory	en
dc.subject.other	Constraint theory	en
dc.subject.other	Controllability	en
dc.subject.other	Motion planning	en
dc.subject.other	Holonomic vehicles	en
dc.subject.other	Motion feasibility	en
dc.subject.other	Small time locally controllable (STLC)	en
dc.subject.other	Multi agent systems	en
dc.title	Approximate control of formations of multiagent systems	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2005.1582947	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2005.1582947	en
heal.identifier.secondary	1582947	en
heal.publicationDate	2005	en
heal.abstract	In this paper we are investigating how the local controllability properties of each agent interplays with the motion feasibility of the complete multiagent system, studying systems that are either small time locally controllable (STLC), or locally controllable but in bounded time. We present an approximation strategy, which allows us to plan the motion of the system using fully actuated holonomic vehicles, and to incorporate the constraints on the motion of the agents in a latter step, satisfying the formation constraints arbitrarily well. We apply this approximation strategy to tracking both static trajectories or arbitrary moving references. © 2005 IEEE.	en
heal.journalName	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05	en
dc.identifier.doi	10.1109/CDC.2005.1582947	en
dc.identifier.volume	2005	en
dc.identifier.spage	4958	en
dc.identifier.epage	4963	en