Decentralized motion control of multiple agents with double integrator dynamics

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:50:01Z
dc.date.available	2014-03-01T02:50:01Z
dc.date.issued	2005	en
dc.identifier.issn	14746670	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34876
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-79960716104&partnerID=40&md5=4a0a11c8aef3e6632dc02abc9b832c7c	en
dc.subject	Autonomous agents	en
dc.subject	Decentralized control	en
dc.subject	Motion control	en
dc.subject.other	Agent plan	en
dc.subject.other	Decentralized navigation	en
dc.subject.other	Double integrator	en
dc.subject.other	Global convergence	en
dc.subject.other	LaSalle's invariance principle	en
dc.subject.other	Multiple agents	en
dc.subject.other	Multiple vehicle systems	en
dc.subject.other	Automation	en
dc.subject.other	Decentralized control	en
dc.subject.other	Intelligent agents	en
dc.subject.other	Motion control	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Navigation	en
dc.subject.other	Autonomous agents	en
dc.title	Decentralized motion control of multiple agents with double integrator dynamics	en
heal.type	conferenceItem	en
heal.publicationDate	2005	en
heal.abstract	The decentralized navigation function methodology, established in previous work for navigation of a multi-agent system with single integrator dynamics is extended to the case of double integrator. The main motivation of this work lies in the fact that acceleration control is more implementable in multiple vehicle systems than velocity control. Each agent plans its actions without knowing the destinations of the others. The stability of the overall system is guaranteed by LaSalle's Invariance Principle. The collision avoidance and global convergence properties are verified through simulations. Copyright © 2005 IFAC.	en
heal.journalName	IFAC Proceedings Volumes (IFAC-PapersOnline)	en
dc.identifier.volume	16	en
dc.identifier.spage	185	en
dc.identifier.epage	190	en