DocumentCode
1307865
Title
Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles
Author
Ayanian, Nora ; Kumar, Vipin
Author_Institution
Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA
Volume
26
Issue
5
fYear
2010
Firstpage
878
Lastpage
887
Abstract
We propose a method for synthesizing decentralized feedback controllers for a team of multiple heterogeneous agents navigating a known environment with obstacles. The controllers are designed to drive agents with limited team state information to goal sets while avoiding collisions and maintaining specified proximity constraints. The method, its successful application to nonholonomic agents in dynamic simulation and experimentation, and its limitations are presented in this paper.
Keywords
collision avoidance; control system synthesis; decentralised control; feedback; mobile robots; multi-robot systems; collisions avoidance; decentralized feedback controller; multiagent team; multiple heterogeneous agent; nonholonomic agent; proximity constraint; Adaptive control; Aerospace electronics; Collision avoidance; Convergence; Navigation; Robots; Safety; Decentralized feedback control; mobile robot motion planning; motion control; path planning for multiple mobile robot systems;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2010.2062070
Filename
5559517
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