Approximate control of formations of multiagent systems

Grigoris Lionis; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2005.1582947

Approximate control of formations of multiagent systems

Grigoris Lionis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages	4958-4963
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2005.1582947
State	Published - 2005
Event	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain Duration: Dec 12 2005 → Dec 15 2005

Publication series

Name	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume	2005

Other

Other	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Country/Territory	Spain
City	Seville
Period	12/12/05 → 12/15/05

ASJC Scopus subject areas

General Engineering

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10.1109/CDC.2005.1582947

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Lionis, G., & Kyriakopoulos, K. J. (2005). Approximate control of formations of multiagent systems. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 4958-4963). Article 1582947 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005). https://doi.org/10.1109/CDC.2005.1582947

Approximate control of formations of multiagent systems. / Lionis, Grigoris; Kyriakopoulos, Kostas J.
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 4958-4963 1582947 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005).

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

Lionis, G & Kyriakopoulos, KJ 2005, Approximate control of formations of multiagent systems. in Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05., 1582947, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, vol. 2005, pp. 4958-4963, 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, Seville, Spain, 12/12/05. https://doi.org/10.1109/CDC.2005.1582947

Lionis G, Kyriakopoulos KJ. Approximate control of formations of multiagent systems. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 4958-4963. 1582947. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05). doi: 10.1109/CDC.2005.1582947

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Approximate control of formations of multiagent systems

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