Decentralized navigation functions for multiple robotic agents with limited sensing capabilities

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)411-433
Number of pages23
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3
StatePublished - Mar 2007


  • 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


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