Decentralized motion control of multiple agents with double integrator dynamics

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

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


The decentralized navigation function methodology, established in previous work for navigation of a multi-agent system with single integrator dynamics is extended to the case of double integrator. The main motivation of this work lies in the fact that acceleration control is more implementable in multiple vehicle systems than velocity control. Each agent plans its actions without knowing the destinations of the others. The stability of the overall system is guaranteed by LaSalle's Invariance Principle. The collision avoidance and global convergence properties are verified through simulations.

Original languageEnglish (US)
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
StatePublished - 2005

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Autonomous agents
  • Decentralized control
  • Motion control

ASJC Scopus subject areas

  • Control and Systems Engineering


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