TY - GEN
T1 - Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints
AU - Dimarogonas, D. V.
AU - Zavlanos, M. M.
AU - Loizou, S. G.
AU - Kyriakopoulos, K. J.
PY - 2003
Y1 - 2003
N2 - The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties as well as input requirements are verified through simulations.
AB - The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties as well as input requirements are verified through simulations.
UR - http://www.scopus.com/inward/record.url?scp=1542349367&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=1542349367&partnerID=8YFLogxK
U2 - 10.1109/CDC.2003.1271668
DO - 10.1109/CDC.2003.1271668
M3 - Conference contribution
AN - SCOPUS:1542349367
SN - 0780379241
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3390
EP - 3395
BT - Proceedings of the IEEE Conference on Decision and Control
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 42nd IEEE Conference on Decision and Control
Y2 - 9 December 2003 through 12 December 2003
ER -