A General Approach to Coordination Control of Mobile Agents with Motion Constraints
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Zhao, Shiyu; Dimarogonas, Dimos V.; Sun, Zhiyong; Bauso, Dario
Description
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]
dc.contributor.author | Zhao, Shiyu | |
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dc.contributor.author | Dimarogonas, Dimos V. | |
dc.contributor.author | Sun, Zhiyong | |
dc.contributor.author | Bauso, Dario | |
dc.date.accessioned | 2020-01-24T04:06:14Z | |
dc.identifier.issn | 0018-9286 | |
dc.identifier.uri | http://hdl.handle.net/1885/199746 | |
dc.description.abstract | 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 multiagent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints. | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en_AU | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.rights | © 2017 IEEE | |
dc.source | IEEE Transactions on Automatic Control | |
dc.subject | coordination control | |
dc.subject | multi-agent systems | |
dc.subject | nonholonomic constraints | |
dc.subject | obstacle avoidance | |
dc.subject | velocity saturation | |
dc.title | A General Approach to Coordination Control of Mobile Agents with Motion Constraints | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.identifier.citationvolume | 63 | |
dcterms.dateAccepted | 2017-08-30 | |
dc.date.issued | 2017-09-11 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | a383154xPUB9809 | |
local.publisher.url | https://ieeexplore.ieee.org | |
local.type.status | Published Version | |
local.contributor.affiliation | Zhao, Shiyu, University of Sheffield | |
local.contributor.affiliation | Dimarogonas, Dimos V, Access Linnaeus Centre, School of Electrical Engineering | |
local.contributor.affiliation | Sun, Zhiyong, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Bauso, Dario, University of Sheffield | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.issue | 5 | |
local.bibliographicCitation.startpage | 1509 | |
local.bibliographicCitation.lastpage | 1516 | |
local.identifier.doi | 10.1109/TAC.2017.2750924 | |
local.identifier.absseo | 970110 - Expanding Knowledge in Technology | |
dc.date.updated | 2019-11-25T07:24:08Z | |
local.identifier.scopusID | 2-s2.0-85046085833 | |
Collections | ANU Research Publications |
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