Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems

Author

Atinc, Gokhan M. ; Stipanovic, Dusan M. ; Voulgaris, Petros G. ; Karkoub, Mansour

Author_Institution

Mech. Sci. & Eng. Dept., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA

fYear

2013

fDate

17-19 June 2013

Firstpage

5392

Lastpage

5397

Abstract

In this paper we address a multi-objective control problem for a group of kinematic unicycle agents. Namely, we consider three objectives; trajectory tracking, collision avoidance, and connectivity maintenance. By integrating the gradients of the avoidance and connectivity functions into the desired orientations of agents, using Lyapunov-type analysis, we prove that agents track reference trajectories with bounded errors, while avoiding collisions and maintaining connectivity.

Keywords

Lyapunov methods; collision avoidance; gradient methods; mobile robots; multi-robot systems; robot kinematics; trajectory control; Lyapunov-type analysis; agent orientations; avoidance-connectivity function gradient integration; bounded errors; collision avoidance; collision-free trajectory tracking; connectivity maintenance; kinematic unicycle agents; multiobjective control problem; reference trajectory tracking; unicycle multiagent systems; Collision avoidance; Educational institutions; Laplace equations; Multi-agent systems; Robots; Trajectory; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2013

Conference_Location

Washington, DC

ISSN

0743-1619

Print_ISBN

978-1-4799-0177-7

Type

conf

DOI

10.1109/ACC.2013.6580680

Filename

6580680