Totally distributed motion control of sphere world multi-agent systems using Decentralized Navigation Functions

Dimarogonas, DV; Kyriakopoulos, KJ; Theodorakatos, D

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.contributor.author	Theodorakatos, D	en
dc.date.accessioned	2014-03-01T02:44:19Z
dc.date.available	2014-03-01T02:44:19Z
dc.date.issued	2006	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31761
dc.subject	Collision Avoidance	en
dc.subject	Feedback Control	en
dc.subject	Hybrid System	en
dc.subject	Large Scale	en
dc.subject	lyapunov stability	en
dc.subject	Motion Control	en
dc.subject	Multi Agent System	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Decentralized control	en
dc.subject.other	Distributed parameter control systems	en
dc.subject.other	Feedback	en
dc.subject.other	Lyapunov methods	en
dc.subject.other	Motion control	en
dc.subject.other	Spheres	en
dc.subject.other	Communication restrictions	en
dc.subject.other	Decentralized Navigation Functions	en
dc.subject.other	Distributed motion control	en
dc.subject.other	Holonomic agents	en
dc.subject.other	Multi agent systems	en
dc.title	Totally distributed motion control of sphere world multi-agent systems using Decentralized Navigation Functions	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2006.1642066	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2006.1642066	en
heal.identifier.secondary	1642066	en
heal.publicationDate	2006	en
heal.abstract	A distributed feedback control architecture that guarantees collision avoidance and destination convergence for multiple sphere world holonomic agents is presented. The well established tool of Decentralized Navigation Functions is redefined to cope with the communication restrictions of the system. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for hybrid systems. The collision avoidance and goal convergence properties are verified through simulations. The key advantage of the proposed algorithm with respect to the previous ones is the significant decrease of computational load and its applicability to large scale groups. © 2006 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2006.1642066	en
dc.identifier.volume	2006	en
dc.identifier.spage	2430	en
dc.identifier.epage	2435	en