TY - GEN
T1 - Coordination of multiple non-holonomic agents with input constraints
AU - Oikonomopoulos, Apollon S.
AU - Loizouy, Savvas G.
AU - Kyriakopoulos, Kostas J.
PY - 2009
Y1 - 2009
N2 - In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained nonholonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements.
AB - In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained nonholonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements.
UR - http://www.scopus.com/inward/record.url?scp=70350417300&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350417300&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152397
DO - 10.1109/ROBOT.2009.5152397
M3 - Conference contribution
AN - SCOPUS:70350417300
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 869
EP - 874
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -