Approximate control of formations of multiagent systems

Grigoris Lionis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we are investigating how the local controllability properties of each agent interplays with the motion feasibility of the complete multiagent system, studying systems that are either small time locally controllable (STLC), or locally controllable but in bounded time. We present an approximation strategy, which allows us to plan the motion of the system using fully actuated holonomic vehicles, and to incorporate the constraints on the motion of the agents in a latter step, satisfying the formation constraints arbitrarily well. We apply this approximation strategy to tracking both static trajectories or arbitrary moving references.

Original languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages4958-4963
Number of pages6
DOIs
StatePublished - 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Publication series

NameProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Country/TerritorySpain
CitySeville
Period12/12/0512/15/05

ASJC Scopus subject areas

  • Engineering(all)

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