Distributed cooperative control and collision avoidance for multiple kinematic agents

Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/cdc.2006.376884

Distributed cooperative control and collision avoidance for multiple kinematic agents

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper contains two main contributions: (i) a provably correct distributed control strategy for collision avoidance and convergence of multiple holonomic agents to a desired feasible formation configuration and (ii) a connection between formation infeasibility and flocking behavior in holonomic kinematic multi-agent systems. In particular, it is shown that when inter-agent formation objectives cannot occur simultaneously in the state-space then, under certain assumptions, the agents velocity vectors and orientations converge to a common value at steady state, under the same control strategy that would lead to a feasible formation. Convergence guarantees are provided in both cases using tools from algebraic graph theory and Lyapunov analysis.

Original language	English (US)
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	721-726
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.376884
State	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: Dec 13 2006 → Dec 15 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	12/13/06 → 12/15/06

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/cdc.2006.376884

Cite this

Dimarogonas, D. V., & Kyriakopoulos, K. J. (2006). Distributed cooperative control and collision avoidance for multiple kinematic agents. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 721-726). Article 4177320 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.376884

Distributed cooperative control and collision avoidance for multiple kinematic agents. / Dimarogonas, Dimos V.; Kyriakopoulos, Kostas J.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 721-726 4177320 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dimarogonas, DV & Kyriakopoulos, KJ 2006, Distributed cooperative control and collision avoidance for multiple kinematic agents. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177320, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 721-726, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 12/13/06. https://doi.org/10.1109/cdc.2006.376884

Dimarogonas DV, Kyriakopoulos KJ. Distributed cooperative control and collision avoidance for multiple kinematic agents. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc. 2006. p. 721-726. 4177320. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/cdc.2006.376884

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AB - This paper contains two main contributions: (i) a provably correct distributed control strategy for collision avoidance and convergence of multiple holonomic agents to a desired feasible formation configuration and (ii) a connection between formation infeasibility and flocking behavior in holonomic kinematic multi-agent systems. In particular, it is shown that when inter-agent formation objectives cannot occur simultaneously in the state-space then, under certain assumptions, the agents velocity vectors and orientations converge to a common value at steady state, under the same control strategy that would lead to a feasible formation. Convergence guarantees are provided in both cases using tools from algebraic graph theory and Lyapunov analysis.

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Distributed cooperative control and collision avoidance for multiple kinematic agents

Abstract

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