TY - GEN
T1 - Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems
AU - Atinc, Gokhan M.
AU - Stipanovic, Dusan M.
AU - Voulgaris, Petros G.
AU - Karkoub, Mansour
PY - 2013
Y1 - 2013
N2 - In this paper we address a multi-objective control problem for a group of kinematic unicycle agents. Namely, we consider three objectives; trajectory tracking, collision avoidance, and connectivity maintenance. By integrating the gradients of the avoidance and connectivity functions into the desired orientations of agents, using Lyapunov-type analysis, we prove that agents track reference trajectories with bounded errors, while avoiding collisions and maintaining connectivity.
AB - In this paper we address a multi-objective control problem for a group of kinematic unicycle agents. Namely, we consider three objectives; trajectory tracking, collision avoidance, and connectivity maintenance. By integrating the gradients of the avoidance and connectivity functions into the desired orientations of agents, using Lyapunov-type analysis, we prove that agents track reference trajectories with bounded errors, while avoiding collisions and maintaining connectivity.
UR - http://www.scopus.com/inward/record.url?scp=84883510794&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84883510794&partnerID=8YFLogxK
U2 - 10.1109/acc.2013.6580680
DO - 10.1109/acc.2013.6580680
M3 - Conference contribution
AN - SCOPUS:84883510794
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 5392
EP - 5397
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -