Navigation of multiple input constraint micro-robotic agents

Savvas G. Loizou, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we consider the problem of navigating a team of input constraint robotic agents. The main motivation comes from the field of micro-robotics, where several input sets are more favorable than others, in the sense of incurring a lower relative actuation error. A switching controller that actuates the system in those favored input regions is derived based on Multirobot Navigation Functions. The system is shown to posses theoretically guaranteed global convergence and collision avoidance properties. Non-trivial computer simulations show the effectiveness of the methodology

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages665-670
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

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