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Aggregation in a swarm of non-holonomic agents using artificial potentials and sliding mode control

Fidan, Baris


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]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: 2007 European Control Conference, ECC 2007


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