Inverse agreement algorithms with application to swarm dispersion for multiple nonholonomic agents

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:45:31Z
dc.date.available	2014-03-01T02:45:31Z
dc.date.issued	2008	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32289
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Control Strategy	en
dc.subject	Minimum Distance	en
dc.subject	System Evolution	en
dc.subject	Lower Bound	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Closed loop systems	en
dc.subject.other	Computational methods	en
dc.subject.other	Computer networks	en
dc.subject.other	Computer simulation	en
dc.subject.other	Robotics	en
dc.subject.other	International conferences	en
dc.subject.other	Non-holonomic	en
dc.subject.other	Team members	en
dc.subject.other	Industrial engineering	en
dc.title	Inverse agreement algorithms with application to swarm dispersion for multiple nonholonomic agents	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2008.4543496	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2008.4543496	en
heal.identifier.secondary	4543496	en
heal.publicationDate	2008	en
heal.abstract	We propose an inverse agreement control strategy for multiple nonholonomic agents that forces the team members to disperse in the workspace in a distributed manner. Both the cases of an unbounded and a circular bounded workspace are considered. In the first case, we show that the closed loop system reaches a configuration in which the minimum distance between any pair of agents is larger than a specific lower bound. It is proved that this lower bound coincides with the agents' sensing radius. In the case of a bounded workspace, the control law is modified to force the agents to remain within the workspace boundary throughout the closed loop system evolution. Moreover the proposed control guarantees collision avoidance between the team members. The results are supported through relevant computer simulations. ©2008 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2008.4543496	en
dc.identifier.spage	1973	en
dc.identifier.epage	1978	en