TY - GEN
T1 - Totally distributed motion control of sphere world multi-agent systems using Decentralized Navigation Functions
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
AU - Theodorakatos, Dimitris
PY - 2006
Y1 - 2006
N2 - A distributed feedback control architecture that guarantees collision avoidance and destination convergence for multiple sphere world holonomic agents is presented. The well established tool of Decentralized Navigation Functions is redefined to cope with the communication restrictions of the system. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for hybrid systems. The collision avoidance and goal convergence properties are verified through simulations. The key advantage of the proposed algorithm with respect to the previous ones is the significant decrease of computational load and its applicability to large scale groups.
AB - A distributed feedback control architecture that guarantees collision avoidance and destination convergence for multiple sphere world holonomic agents is presented. The well established tool of Decentralized Navigation Functions is redefined to cope with the communication restrictions of the system. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for hybrid systems. The collision avoidance and goal convergence properties are verified through simulations. The key advantage of the proposed algorithm with respect to the previous ones is the significant decrease of computational load and its applicability to large scale groups.
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U2 - 10.1109/ROBOT.2006.1642066
DO - 10.1109/ROBOT.2006.1642066
M3 - Conference contribution
AN - SCOPUS:33845638764
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2430
EP - 2435
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -