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
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;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2010.2062070
