Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
A General Approach to Coordination Control of Mobile Agents With Motion Constraints
Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S10 2TN, S Yorkshire, England..
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia..
Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S10 2TN, S Yorkshire, England..
2018 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, no 5, p. 1509-1516Article in journal (Refereed) Published
Abstract [en]

This paper proposes a general approach to design convergent coordination control laws for multiagent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angular velocity saturation, and other path constraints while preserving the convergence of the entire multiagent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2018. Vol. 63, no 5, p. 1509-1516
Keywords [en]
coordination control, multi-agent systems, non-holonomic constraints, obstacle avoidance, velocity saturation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-227745DOI: 10.1109/TAC.2017.2750924ISI: 000430968300026Scopus ID: 2-s2.0-85046085833OAI: oai:DiVA.org:kth-227745DiVA, id: diva2:1205739
Note

QC 20180515

Available from: 2018-05-15 Created: 2018-05-15 Last updated: 2018-05-15Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Dimarogonas, Dimos V.
By organisation
ACCESS Linnaeus Centre
In the same journal
IEEE Transactions on Automatic Control
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 806 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf