Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance

Roussos, G; Kyriakopoulos, KJ

dc.contributor.author	Roussos, G	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:46:43Z
dc.date.available	2014-03-01T02:46:43Z
dc.date.issued	2010	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32809
dc.subject	Collision Avoidance	en
dc.subject	Convergence Time	en
dc.subject	Fault Tolerant	en
dc.subject	Feedback Control	en
dc.subject	Potential Field	en
dc.subject	Air Traffic Control	en
dc.subject.other	Convergence time	en
dc.subject.other	Decentralised	en
dc.subject.other	Feedback control law	en
dc.subject.other	Independent agents	en
dc.subject.other	Local sensing	en
dc.subject.other	Moving obstacles	en
dc.subject.other	Navigation functions	en
dc.subject.other	Potential field	en
dc.subject.other	Sensing ranges	en
dc.subject.other	Simulation result	en
dc.subject.other	Upper limits	en
dc.subject.other	Air navigation	en
dc.subject.other	Air traffic control	en
dc.subject.other	Algorithms	en
dc.subject.other	Control theory	en
dc.subject.other	Fault tolerance	en
dc.subject.other	Feedback control	en
dc.subject.other	Quality assurance	en
dc.subject.other	Robotics	en
dc.subject.other	Convergence of numerical methods	en
dc.title	Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2010.5717088	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2010.5717088	en
heal.identifier.secondary	5717088	en
heal.publicationDate	2010	en
heal.abstract	We propose an algorithm for decentralised navigation of multiple independent agents, applicable to Robotics and Air Traffic Control (ATC). We present completely decentralised Navigation Functions that are used to build potential fields and consequently feedback control laws. Our approach employs local sensing, limited by a maximum sensing range and integrates priorities in the Navigation Function (NF) construction. Static and moving obstacles are taken into account, as well as agents that are unable to maneuver. A decentralised feedback control law is used, based on the gradient of the potential field, ensuring convergence and collision avoidance for all agents while respecting a lower velocity bound. An upper limit for the convergence time is given and simulation results are presented to demonstrate the efficacy of the proposed algorithm. ©2010 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2010.5717088	en
dc.identifier.spage	1372	en
dc.identifier.epage	1377	en