TY - GEN
T1 - A connection between formation control and flocking behavior in nonholonomic multiagent systems
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - This paper contains two main features: a provably correct distributed control strategy for convergence of multiple nonholonomic agents to a desired feasible formation configuration and a connection between formation infeasibility and flocking behavior in nonholonomic kinematic multi-agent systems. In particular, it is shown that when inter-agent formation objectives cannot occur simultaneously in the state-space then, under certain assumptions, the agents velocity vectors and orientations converge to a common value at steady state, under the same control strategy that would lead to a feasible formation. Convergence guarantees are provided in both cases using tools form algebraic graph theory and Lyapunov analysis. The results are verified through computer simulations. This is an extension of a result established in our previous work for multiple holonomic kinematic agents.
AB - This paper contains two main features: a provably correct distributed control strategy for convergence of multiple nonholonomic agents to a desired feasible formation configuration and a connection between formation infeasibility and flocking behavior in nonholonomic kinematic multi-agent systems. In particular, it is shown that when inter-agent formation objectives cannot occur simultaneously in the state-space then, under certain assumptions, the agents velocity vectors and orientations converge to a common value at steady state, under the same control strategy that would lead to a feasible formation. Convergence guarantees are provided in both cases using tools form algebraic graph theory and Lyapunov analysis. The results are verified through computer simulations. This is an extension of a result established in our previous work for multiple holonomic kinematic agents.
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U2 - 10.1109/ROBOT.2006.1641830
DO - 10.1109/ROBOT.2006.1641830
M3 - Conference contribution
AN - SCOPUS:33845624869
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 940
EP - 945
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -