Decentralized Motion Control of Multiple Mobile Agents
作者： Michael M. Zavlanos , Kostas J. Kyriakopoulos
DOI:
关键词:
摘要: Our navigation function methodology, established for centralized multiple robot navigation, is extended decentralized navigation. The notion of interconnected systems used to model the whole system, and asymptotic stability guaranteed. collision avoidance global convergence properties are verified through simulations.
researchgate.net 参考文章(8)
Jean-Claude Latombe, Robot Motion Planning ,(1990)
Daniel E Koditschek, Elon Rimon, Robot navigation functions on manifolds with boundary Advances in Applied Mathematics. ,vol. 11, pp. 412- 442 ,(1990) , 10.1016/0196-8858(90)90017-S
J.P. Desai, J. Ostrowski, V. Kumar, Controlling formations of multiple mobile robots Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146). ,vol. 4, pp. 2864- 2869 ,(1998) , 10.1109/ROBOT.1998.680621
M. Jager, B. Nebel, Decentralized collision avoidance, deadlock detection, and deadlock resolution for multiple mobile robots intelligent robots and systems. ,vol. 3, pp. 1213- 1219 ,(2001) , 10.1109/IROS.2001.977148
E. Rimon, D.E. Koditschek, Exact robot navigation using artificial potential functions international conference on robotics and automation. ,vol. 8, pp. 501- 518 ,(1992) , 10.1109/70.163777
Li Chun, Zhiqiang Zheng, Wensen Chang, A decentralized approach to the conflict-free motion planning for multiple mobile robots international conference on robotics and automation. ,vol. 2, pp. 1544- 1549 ,(1999) , 10.1109/ROBOT.1999.772579
H. Yamaguchi, J.W. Burdick, Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations international conference on robotics and automation. ,vol. 4, pp. 3573- 3580 ,(1998) , 10.1109/ROBOT.1998.681022
K. Azarm, G. Schmidt, Conflict-free motion of multiple mobile robots based on decentralized motion planning and negotiation Proceedings of International Conference on Robotics and Automation. ,vol. 4, pp. 3526- 3533 ,(1997) , 10.1109/ROBOT.1997.606881