Multirobot navigation functions I

Savvas G. Loizou; Kostas J. Kyriakopoulos

doi:10.1007/11587392_6

Multirobot navigation functions I

Savvas G. Loizou, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This is the first of two chapters dealing with multirobot navigation. In this chapter a centralized methodology is presented for navigating a team of multiple robotic agents. The solution is a closed form feedback based navigation scheme. The considered robot kinematics include holonomic and non-holonomic constraints and are handled under the unifying framework of multirobot navigation functions. The derived methodology has theoretically guaranteed global convergence and collision avoidance properties. The feasibility of the proposed navigation scheme is verified through non-trivial computer simulations.

Original language	English (US)
Pages (from-to)	171-207
Number of pages	37
Journal	Lecture Notes in Control and Information Sciences
Volume	337
DOIs	https://doi.org/10.1007/11587392_6
State	Published - 2006

ASJC Scopus subject areas

Library and Information Sciences

Access to Document

10.1007/11587392_6

Cite this

@article{ad2c4c9420a242168cc2d4be2e94e20f,

title = "Multirobot navigation functions I",

abstract = "This is the first of two chapters dealing with multirobot navigation. In this chapter a centralized methodology is presented for navigating a team of multiple robotic agents. The solution is a closed form feedback based navigation scheme. The considered robot kinematics include holonomic and non-holonomic constraints and are handled under the unifying framework of multirobot navigation functions. The derived methodology has theoretically guaranteed global convergence and collision avoidance properties. The feasibility of the proposed navigation scheme is verified through non-trivial computer simulations.",

author = "Loizou, {Savvas G.} and Kyriakopoulos, {Kostas J.}",

year = "2006",

doi = "10.1007/11587392_6",

language = "English (US)",

volume = "337",

pages = "171--207",

journal = "Lecture Notes in Control and Information Sciences",

issn = "0170-8643",

publisher = "Springer Verlag",

}

TY - JOUR

T1 - Multirobot navigation functions I

AU - Loizou, Savvas G.

AU - Kyriakopoulos, Kostas J.

PY - 2006

Y1 - 2006

N2 - This is the first of two chapters dealing with multirobot navigation. In this chapter a centralized methodology is presented for navigating a team of multiple robotic agents. The solution is a closed form feedback based navigation scheme. The considered robot kinematics include holonomic and non-holonomic constraints and are handled under the unifying framework of multirobot navigation functions. The derived methodology has theoretically guaranteed global convergence and collision avoidance properties. The feasibility of the proposed navigation scheme is verified through non-trivial computer simulations.

AB - This is the first of two chapters dealing with multirobot navigation. In this chapter a centralized methodology is presented for navigating a team of multiple robotic agents. The solution is a closed form feedback based navigation scheme. The considered robot kinematics include holonomic and non-holonomic constraints and are handled under the unifying framework of multirobot navigation functions. The derived methodology has theoretically guaranteed global convergence and collision avoidance properties. The feasibility of the proposed navigation scheme is verified through non-trivial computer simulations.

UR - http://www.scopus.com/inward/record.url?scp=33947666039&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33947666039&partnerID=8YFLogxK

U2 - 10.1007/11587392_6

DO - 10.1007/11587392_6

M3 - Article

AN - SCOPUS:33947666039

SN - 0170-8643

VL - 337

SP - 171

EP - 207

JO - Lecture Notes in Control and Information Sciences

JF - Lecture Notes in Control and Information Sciences

ER -

Multirobot navigation functions I

Abstract

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this