Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints

Zhiyong Sun; Marcus Greiff; Anders Robertsson; Rolf Johansson

doi:10.1109/ICRA.2019.8793834

Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints

Zhiyong Sun
, Marcus Greiff
, Anders Robertsson
, Rolf Johansson

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

3 Citations (Scopus)

Abstract

We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed algorithm and control schemes.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers
Pages	1008-1013
Number of pages	6
ISBN (Electronic)	978-1-5386-6027-0
DOIs	https://doi.org/10.1109/ICRA.2019.8793834
Publication status	Published - 12 Aug 2019
Externally published	Yes
Event	2019 IEEE International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

Access to Document

10.1109/ICRA.2019.8793834

Cite this

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title = "Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints",

abstract = "We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed algorithm and control schemes.",

author = "Zhiyong Sun and Marcus Greiff and Anders Robertsson and Rolf Johansson",

year = "2019",

month = aug,

day = "12",

doi = "10.1109/ICRA.2019.8793834",

language = "English",

pages = "1008--1013",

booktitle = "2019 International Conference on Robotics and Automation (ICRA)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2019 IEEE International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

}

Sun, Z, Greiff, M, Robertsson, A & Johansson, R 2019, Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints. in 2019 International Conference on Robotics and Automation (ICRA)., 8793834, Institute of Electrical and Electronics Engineers, pp. 1008-1013, 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Quebec, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793834

Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints. / Sun, Zhiyong; Greiff, Marcus; Robertsson, Anders et al.
2019 International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, 2019. p. 1008-1013 8793834.

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

TY - GEN

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AU - Sun, Zhiyong

AU - Greiff, Marcus

AU - Robertsson, Anders

AU - Johansson, Rolf

PY - 2019/8/12

Y1 - 2019/8/12

N2 - We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed algorithm and control schemes.

AB - We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed algorithm and control schemes.

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DO - 10.1109/ICRA.2019.8793834

M3 - Conference contribution

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EP - 1013

BT - 2019 International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers

T2 - 2019 IEEE International Conference on Robotics and Automation, ICRA 2019

Y2 - 20 May 2019 through 24 May 2019

ER -

Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints

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