Collision-free motion coordination of unicycle multi-agent systems

D. Kostic; S. Adinandra; J. Caarls; H. Nijmeijer

doi:10.1109/ACC.2010.5530852

Collision-free motion coordination of unicycle multi-agent systems

D. Kostic
, S. Adinandra
, J. Caarls
, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

19 Citations (Scopus)

224 Downloads (Pure)

Abstract

We propose a method for collision-free motion coordination of a group of unicycle agents. Under constraints on control signals, this method guarantees asymptotic tracking of the reference trajectories of all individual agents. The motion coordination is established by mutual coupling of coordinates of the interacting agents. For stronger couplings, the robustness of motion coordination to perturbations is increased. A collision avoidance algorithm is formulated to gain additional robustness against perturbations. The proposed control method is successfully validated in experiments.

Original language	English
Title of host publication	Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA
Publisher	Institute of Electrical and Electronics Engineers
Pages	3186-3191
ISBN (Print)	978-142447426-4
DOIs	https://doi.org/10.1109/ACC.2010.5530852
Publication status	Published - 2010

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10.1109/ACC.2010.5530852

569616028178231Final author version , 313 KB

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title = "Collision-free motion coordination of unicycle multi-agent systems",

abstract = "We propose a method for collision-free motion coordination of a group of unicycle agents. Under constraints on control signals, this method guarantees asymptotic tracking of the reference trajectories of all individual agents. The motion coordination is established by mutual coupling of coordinates of the interacting agents. For stronger couplings, the robustness of motion coordination to perturbations is increased. A collision avoidance algorithm is formulated to gain additional robustness against perturbations. The proposed control method is successfully validated in experiments.",

author = "D. Kostic and S. Adinandra and J. Caarls and H. Nijmeijer",

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Collision-free motion coordination of unicycle multi-agent systems. / Kostic, D.; Adinandra, S.; Caarls, J. et al.
Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA. Institute of Electrical and Electronics Engineers, 2010. p. 3186-3191.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Collision-free motion coordination of unicycle multi-agent systems

AU - Kostic, D.

AU - Adinandra, S.

AU - Caarls, J.

AU - Nijmeijer, H.

PY - 2010

Y1 - 2010

N2 - We propose a method for collision-free motion coordination of a group of unicycle agents. Under constraints on control signals, this method guarantees asymptotic tracking of the reference trajectories of all individual agents. The motion coordination is established by mutual coupling of coordinates of the interacting agents. For stronger couplings, the robustness of motion coordination to perturbations is increased. A collision avoidance algorithm is formulated to gain additional robustness against perturbations. The proposed control method is successfully validated in experiments.

AB - We propose a method for collision-free motion coordination of a group of unicycle agents. Under constraints on control signals, this method guarantees asymptotic tracking of the reference trajectories of all individual agents. The motion coordination is established by mutual coupling of coordinates of the interacting agents. For stronger couplings, the robustness of motion coordination to perturbations is increased. A collision avoidance algorithm is formulated to gain additional robustness against perturbations. The proposed control method is successfully validated in experiments.

U2 - 10.1109/ACC.2010.5530852

DO - 10.1109/ACC.2010.5530852

M3 - Conference contribution

SN - 978-142447426-4

SP - 3186

EP - 3191

BT - Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA

PB - Institute of Electrical and Electronics Engineers

ER -

Collision-free motion coordination of unicycle multi-agent systems

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