TY - JOUR
T1 - Multirobot navigation functions II
T2 - Towards decentralization
AU - Dimarogonas, Dimos V.
AU - Loizou, Savvas G.
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - This is the second part of a two part paper regarding Multirobot Navigation Functions. In this part, we discuss extensions of the centralized scheme presented in the first part, towards decentralization concepts. Both holonomic and nonholonomic kinematic models are considered and the limited sensing capabilities of each agent are taken into account. An extension to dynamic models of the agents' motion is also included. The conflict resolution as well as destination convergence properties are verified in each case through nontrivial computer simulations.
AB - This is the second part of a two part paper regarding Multirobot Navigation Functions. In this part, we discuss extensions of the centralized scheme presented in the first part, towards decentralization concepts. Both holonomic and nonholonomic kinematic models are considered and the limited sensing capabilities of each agent are taken into account. An extension to dynamic models of the agents' motion is also included. The conflict resolution as well as destination convergence properties are verified in each case through nontrivial computer simulations.
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U2 - 10.1007/11587392_7
DO - 10.1007/11587392_7
M3 - Article
AN - SCOPUS:33947676323
SN - 0170-8643
VL - 337
SP - 209
EP - 253
JO - Lecture Notes in Control and Information Sciences
JF - Lecture Notes in Control and Information Sciences
ER -