TY - JOUR
T1 - On the rendezvous problem for multiple nonholonomic agents
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
Manuscript received November 22, 2005; revised May 9, 2006 and November 22, 2006. Recommended by Asssociate Editor F. Bullo. This work was supported by the European Commission through contract I-SWARM (IST-2004-507006), http://www.i-swarm.org/. Preliminary versions of this work have appeared in [7] and [8].
PY - 2007/5
Y1 - 2007/5
N2 - In this note, a decentralized feedback control strategy that drives a system of multiple nonholonomic unicycles to a rendezvous point in terms of both position and orientation is introduced. The proposed nonholonomic control law is discontinuous and time-invariant and using tools from nonsmooth Lyapunov theory and graph theory the stability of the overall system is examined. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph that represents the inter-agent communication topology. The control law is first defined in order to guarantee connectivity maintenance for an initially connected communication graph. Moreover, the cases of static and dynamic communication topologies are treated as corollaries of the proposed framework.
AB - In this note, a decentralized feedback control strategy that drives a system of multiple nonholonomic unicycles to a rendezvous point in terms of both position and orientation is introduced. The proposed nonholonomic control law is discontinuous and time-invariant and using tools from nonsmooth Lyapunov theory and graph theory the stability of the overall system is examined. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph that represents the inter-agent communication topology. The control law is first defined in order to guarantee connectivity maintenance for an initially connected communication graph. Moreover, the cases of static and dynamic communication topologies are treated as corollaries of the proposed framework.
KW - Cooperative control
KW - Decentralized control
KW - Nonholonomic agents
UR - http://www.scopus.com/inward/record.url?scp=34249042262&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34249042262&partnerID=8YFLogxK
U2 - 10.1109/TAC.2007.895897
DO - 10.1109/TAC.2007.895897
M3 - Article
AN - SCOPUS:34249042262
SN - 0018-9286
VL - 52
SP - 916
EP - 922
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 5
ER -