Aggregation in a swarm of non-holonomic agents using artificial potentials and sliding mode control
In this paper we consider the aggregation of swarms whose agents are moving in 2-dimensions with a non-holonomic agent dynamics. We approach this problem using artificial potentials and sliding mode control. The main contribution is the extension of the recent results in the literature based on a similar approach for simple integrator agent dynamics model to a significantly more realistic and more difficult setting with non-holonomic unicycle agent dynamics model. In particular, we design a...[Show more]
|Collections||ANU Research Publications|
|Source:||2007 European Control Conference, ECC 2007|
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.