TY - JOUR
T1 - A feedback stabilization and collision avoidance scheme for multiple independent non-point agents
AU - Dimarogonas, Dimos V.
AU - Loizou, Savvas G.
AU - Kyriakopoulos, Kostas J.
AU - Zavlanos, Michael M.
N1 - Funding Information:
This work was partially presented in Dimarogonas, Zavlanos, Loizou, and Kyriakopoulos (2003); Zavlanos and Kyriakopoulos (2003) and is supported by the EU through contracts HYBRIDGE(IST-2001-32460), MICRON(IST-2001-33567) and I-SWARM (IST-2004-507006).
Funding Information:
Kostas J. Kyriakopoulos was born in Athens, Greece in 1962. He received the Diploma in Mechanical Engineering with Honors from the National Technical University of Athens (NTUA), Greece, in 1985 and the MS and Ph.D. in Electrical, Computer & Systems Engineering from Rensselaer Polytechnic Institute (RPI), Troy, NY in 1987 and 1991, respectively. From 1988 to 1991 he did research at the NASA Center for Intelligent Robotic Systems for Space Exploration. Between 1991 and 1993 he was a Research Assistant Professor at the Electrical, Computer and Systems Engineering Department of RPI and the New York State Center for Advanced Technology in Automation and Robotics. Since 1994 he has been with the Control Systems Laboratory of the Mechanical Engineering Department at NTUA, Greece, where he currently serves as an Associate Professor and Director of the Computers Lab. His current interests are in the area of Nonlinear Control Systems applications in Sensor Based Motion Planning & Control of Robotic Manipulators & Vehicles (Mobile, Underwater, Aerial) and Micro-Mechatronics. He is a member of IEEE and the Technical Chamber of Greece. He was awarded the G. Samaras award of academic excellence from NTUA, the Bodosakis Foundation Fellowship (1986–1989), the Alexander Onassis Foundation Fellowship (1989–1990) and the Alexander Von Humboldt Foundation Fellowship (1993). Dr. Kyriakopoulos has published close to 120 papers to journals and refereed conferences and serves as a regular reviewer to a number of journals and conferences. He serves in the editorial committee of a number of journals and has served as an administrative member of a number of international conferences. He is a member of IEEE and the Technical Chamber of Greece.
PY - 2006/2
Y1 - 2006/2
N2 - A navigation functions' based methodology, established in our previous work for centralized multiple robot navigation, is extended to address the problem of decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties are verified through simulations.
AB - A navigation functions' based methodology, established in our previous work for centralized multiple robot navigation, is extended to address the problem of decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties are verified through simulations.
KW - Autonomous systems
KW - Decentralized control
KW - Motion planning
UR - http://www.scopus.com/inward/record.url?scp=29244449595&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=29244449595&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2005.09.019
DO - 10.1016/j.automatica.2005.09.019
M3 - Article
AN - SCOPUS:29244449595
SN - 0005-1098
VL - 42
SP - 229
EP - 243
JO - Automatica
JF - Automatica
IS - 2
ER -