Coordination of multiple non-holonomic agents with input constraints

Oikonomopoulos, AS; Loizouy, SG; Kyriakopoulos, KJ

dc.contributor.author	Oikonomopoulos, AS	en
dc.contributor.author	Loizouy, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:46:05Z
dc.date.available	2014-03-01T02:46:05Z
dc.date.issued	2009	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32531
dc.subject	Formal Verification	en
dc.subject	Input Constraint	en
dc.subject	Satisfiability	en
dc.subject.other	Formal verification tools	en
dc.subject.other	Input constraints	en
dc.subject.other	Kinematic constraints	en
dc.subject.other	Liveness	en
dc.subject.other	Model checker	en
dc.subject.other	Multi-agent coordinations	en
dc.subject.other	Nonholonomics	en
dc.subject.other	Aircraft	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Robotics	en
dc.subject.other	Model checking	en
dc.title	Coordination of multiple non-holonomic agents with input constraints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2009.5152397	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2009.5152397	en
heal.identifier.secondary	5152397	en
heal.publicationDate	2009	en
heal.abstract	In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained nonholonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements. © 2009 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2009.5152397	en
dc.identifier.spage	869	en
dc.identifier.epage	874	en