TY - GEN
T1 - Completely decentralised Navigation Functions for agents with finite sensing regions with application in aircraft conflict resolution
AU - Roussos, Giannis
AU - Kyriakopoulos, Kostas J.
PY - 2011
Y1 - 2011
N2 - We develop the framework of decentralised Navigation Functions for the case of multiple agents of arbitrary shapes and sensing areas around them moving in N-dimensional space. Unlike previous approaches utilising the Navigation Functions methodology, the construction here does not rely on diffeomorphisms, thus reducing the computational cost of the algorithm. The resulting potential field is absolutely locally computable and can be easily adapted to decentralised aircraft conflict resolution, as shown in the paper. Simulation results of multi-aircraft conflict resolution are included to support the efficacy of the complete control scheme.
AB - We develop the framework of decentralised Navigation Functions for the case of multiple agents of arbitrary shapes and sensing areas around them moving in N-dimensional space. Unlike previous approaches utilising the Navigation Functions methodology, the construction here does not rely on diffeomorphisms, thus reducing the computational cost of the algorithm. The resulting potential field is absolutely locally computable and can be easily adapted to decentralised aircraft conflict resolution, as shown in the paper. Simulation results of multi-aircraft conflict resolution are included to support the efficacy of the complete control scheme.
UR - http://www.scopus.com/inward/record.url?scp=84860701011&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84860701011&partnerID=8YFLogxK
U2 - 10.1109/CDC.2011.6160520
DO - 10.1109/CDC.2011.6160520
M3 - Conference contribution
AN - SCOPUS:84860701011
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 7470
EP - 7475
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -