Abstract
The decentralized navigation function methodology, established in our previous work for navigation of multiple holonomic agents with global sensing capabilities is extended to the case of local sensing capabilities. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 411-433 |
| Number of pages | 23 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 48 |
| Issue number | 3 |
| DOIs | |
| State | Published - Mar 2007 |
Keywords
- Autonomous agents
- Decentralized control
- Motion planning
- Multi agent systems
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering