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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

19 Citaten (Scopus)

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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.

Originele taal-2	Engels
Titel	Proceedings of the 2010 American Control Conference (ACC 2010), 30 June 30 - 2 July 2010, Baltimore, Maryland, USA
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	3186-3191
ISBN van geprinte versie	978-142447426-4
DOI's	https://doi.org/10.1109/ACC.2010.5530852
Status	Gepubliceerd - 2010

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10.1109/ACC.2010.5530852

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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.",

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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. blz. 3186-3191.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › 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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