Connectivity preserving state agreement for multiple unicycles

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

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


This paper presents a decentralized feedback control strategy that drives a system of multiple nonholonomic kinematic unicycles to agreement, maintaining at the same time the connectivity properties of the initially formed communication graph. The communication graph is created based on the initial relative distances between the team members. The proposed control law guarantees that if the communication graph is initially connected, then it remains connected throughout the closed loop system evolution. This is achieved via a control design that renders the set of edges of the initially formed communication graph positively invariant for the trajectories of the closed loop system. The proposed nonholonomic control law is discontinuous and time-invariant and tools from nonsmooth stability theory and matrix theory are used to check the stability of the overall system. The convergence properties are verified through computer simulations.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
StatePublished - 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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