On the state agreement problem for multiple unicycles

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:07Z
dc.date.available	2014-03-01T02:44:07Z
dc.date.issued	2006	en
dc.identifier.issn	07431619	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31696
dc.subject	Agent Communication	en
dc.subject	Agreement Problem	en
dc.subject	Feedback Control	en
dc.subject	Graph Theory	en
dc.subject	Stability Theory	en
dc.subject	Multi Agent System	en
dc.subject.other	Communication systems	en
dc.subject.other	Convergence of numerical methods	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Set theory	en
dc.subject.other	Stability criteria	en
dc.subject.other	Topology	en
dc.subject.other	Communication sets	en
dc.subject.other	Inter-agent communication topology	en
dc.subject.other	Nonholonomic control	en
dc.subject.other	Nonholonomic kinematics	en
dc.subject.other	Feedback control	en
dc.title	On the state agreement problem for multiple unicycles	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ACC.2006.1656516	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ACC.2006.1656516	en
heal.identifier.secondary	1656516	en
heal.publicationDate	2006	en
heal.abstract	In this contribution, a feedback control strategy that drives a system of multiple nonholonomic kinematic unicycles to agreement is introduced. Each agent is assigned with a specific subset of the rest of the team, called the agent's communication set, that includes the agents with which it can communicate in order to achieve the desired objective. The proposed nonholonomic control law is discontinuous and time-invariant and tools from nonsmooth stability theory and graph theory are used to check the stability of the overall system. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph that represents the inter-agent communication topology. © 2006 IEEE.	en
heal.journalName	Proceedings of the American Control Conference	en
dc.identifier.doi	10.1109/ACC.2006.1656516	en
dc.identifier.volume	2006	en
dc.identifier.spage	2016	en
dc.identifier.epage	2021	en