Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance

Giannis Roussos; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2010.5717088

Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance

Giannis Roussos, Kostas J. Kyriakopoulos

Electrical Engineering

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

Abstract

We propose an algorithm for decentralised navigation of multiple independent agents, applicable to Robotics and Air Traffic Control (ATC). We present completely decentralised Navigation Functions that are used to build potential fields and consequently feedback control laws. Our approach employs local sensing, limited by a maximum sensing range and integrates priorities in the Navigation Function (NF) construction. Static and moving obstacles are taken into account, as well as agents that are unable to maneuver. A decentralised feedback control law is used, based on the gradient of the potential field, ensuring convergence and collision avoidance for all agents while respecting a lower velocity bound. An upper limit for the convergence time is given and simulation results are presented to demonstrate the efficacy of the proposed algorithm.

Original language	English (US)
Title of host publication	2010 49th IEEE Conference on Decision and Control, CDC 2010
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1372-1377
Number of pages	6
ISBN (Print)	9781424477456
DOIs	https://doi.org/10.1109/CDC.2010.5717088
State	Published - 2010
Event	49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States Duration: Dec 15 2010 → Dec 17 2010

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	49th IEEE Conference on Decision and Control, CDC 2010
Country/Territory	United States
City	Atlanta
Period	12/15/10 → 12/17/10

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2010.5717088

Cite this

Roussos, G., & Kyriakopoulos, K. J. (2010). Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 1372-1377). Article 5717088 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2010.5717088

Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance. / Roussos, Giannis; Kyriakopoulos, Kostas J.
2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. p. 1372-1377 5717088 (Proceedings of the IEEE Conference on Decision and Control).

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

Roussos, G & Kyriakopoulos, KJ 2010, Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance. in 2010 49th IEEE Conference on Decision and Control, CDC 2010., 5717088, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 1372-1377, 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, United States, 12/15/10. https://doi.org/10.1109/CDC.2010.5717088

Roussos G, Kyriakopoulos KJ. Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance. In 2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc. 2010. p. 1372-1377. 5717088. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2010.5717088

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Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance

Abstract

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