A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents

Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/.2005.1467120

A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A navigation functions' based methodology, established previously for decentralized navigation of multiple holonomic agents, is extended to address the problem of decentralized navigation of multiple nonholonomic agents. In contrast to our previous work, each agent does not require any knowledge about the velocities and the desired destinations of the other members of the team. Furthermore, the control inputs are the acceleration and rotational velocity of each vehicle, coping in this way with realistic dynamics of classes of mechanical systems. Asymptotic stability is guaranteed by LaSalle's Invariance Principle for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations.

Original language	English (US)
Title of host publication	Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Pages	820-825
Number of pages	6
DOIs	https://doi.org/10.1109/.2005.1467120
State	Published - 2005
Event	20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05 - Limassol, Cyprus Duration: Jun 27 2005 → Jun 29 2005

Publication series

Name	Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Volume	2005

Other

Other	20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05
Country/Territory	Cyprus
City	Limassol
Period	6/27/05 → 6/29/05

ASJC Scopus subject areas

General Engineering

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10.1109/.2005.1467120

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Dimarogonas, D. V., & Kyriakopoulos, K. J. (2005). A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents. In Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05 (pp. 820-825). Article 1467120 (Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05; Vol. 2005). https://doi.org/10.1109/.2005.1467120

A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents. / Dimarogonas, Dimos V.; Kyriakopoulos, Kostas J.
Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05. 2005. p. 820-825 1467120 (Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dimarogonas, DV & Kyriakopoulos, KJ 2005, A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents. in Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05., 1467120, Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05, vol. 2005, pp. 820-825, 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05, Limassol, Cyprus, 6/27/05. https://doi.org/10.1109/.2005.1467120

Dimarogonas DV, Kyriakopoulos KJ. A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents. In Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05. 2005. p. 820-825. 1467120. (Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05). doi: 10.1109/.2005.1467120

Dimarogonas, Dimos V. ; Kyriakopoulos, Kostas J. / A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents. Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05. 2005. pp. 820-825 (Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05).

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A feedback stabilization and collision avoidance scheme for multiple independent nonholonomic non-point agents

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