Decentralized stabilization and collision avoidance of multiple air vehicles with limited sensing capabilities

Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

Decentralized stabilization and collision avoidance of multiple air vehicles with limited sensing capabilities

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

Motivated by the needs of distributed Air Traffic Management, we extend the decentralized navigation function methodology, established in previous work for navigation of multiple holonomic agents with global sensing capabilities to the case of local sensing capabilities. Each agent plans its actions without knowing (i) the destinations of the others and (ii) the positions of agents outside its sensing neighborhood. A nonsmooth decentralized navigation function is used for each agent. The collision avoidance and global convergence properties are verified through simulations.

Original language	English (US)
Article number	FrC04.2
Pages (from-to)	4667-4672
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	7
State	Published - 2005
Event	2005 American Control Conference, ACC - Portland, OR, United States Duration: Jun 8 2005 → Jun 10 2005

ASJC Scopus subject areas

Electrical and Electronic Engineering

Cite this

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abstract = "Motivated by the needs of distributed Air Traffic Management, we extend the decentralized navigation function methodology, established in previous work for navigation of multiple holonomic agents with global sensing capabilities to the case of local sensing capabilities. Each agent plans its actions without knowing (i) the destinations of the others and (ii) the positions of agents outside its sensing neighborhood. A nonsmooth decentralized navigation function is used for each agent. The collision avoidance and global convergence properties are verified through simulations.",

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AB - Motivated by the needs of distributed Air Traffic Management, we extend the decentralized navigation function methodology, established in previous work for navigation of multiple holonomic agents with global sensing capabilities to the case of local sensing capabilities. Each agent plans its actions without knowing (i) the destinations of the others and (ii) the positions of agents outside its sensing neighborhood. A nonsmooth decentralized navigation function is used for each agent. The collision avoidance and global convergence properties are verified through simulations.

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ER -

Decentralized stabilization and collision avoidance of multiple air vehicles with limited sensing capabilities

Abstract

ASJC Scopus subject areas

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