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A General Approach to Coordination Control of Mobile Agents with Motion Constraints

Zhao, Shiyu; Dimarogonas, Dimos V.; Sun, Zhiyong; Bauso, Dario


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...[Show more]

CollectionsANU Research Publications
Date published: 2017-09-11
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2017.2750924


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