Decentralized motion control of multiple holonomic agents under input constraints

Author

Dimarogonas, D.V. ; Zavlanos, M.M. ; Loizou, S.G. ; Kyriakopoulos, K.J.

Author_Institution

Mech. Eng. Dept., Athens Nat. Tech. Univ., Greece

Volume

4

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

3390

Abstract

The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties as well as input requirements are verified through simulations.

Keywords

Lyapunov methods; asymptotic stability; collision avoidance; convergence; decentralised control; motion control; multi-agent systems; multi-robot systems; navigation; Lyapunov function; asymptotic stability; centralized multiple robot navigation; collision avoidance; convergence properties; decentralized motion control; decentralized navigation; input constraints; multiple holonomic agents; navigation function methodology; Asymptotic stability; Collision avoidance; Control systems; Lyapunov method; Mobile agents; Motion control; Navigation; Robot kinematics; Robot sensing systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271668

Filename

1271668