Title :
Decentralized feedback controllers for multi-agent teams in environments with obstacles
Author :
Ayanian, Nora ; Kumar, Vijay
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA
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 its limitations are presented in this paper.
Keywords :
collision avoidance; decentralised control; feedback; mobile robots; multi-robot systems; decentralized feedback controllers; multiagent teams; multiple heterogeneous agents; nonholonomic agents; Adaptive control; Communication system control; Convergence; Feedback; Navigation; Orbital robotics; Robot kinematics; Robotics and automation; USA Councils; Vehicles;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543490
