Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems

Gokhan M. Atinc, Dusan M Stipanovic, Petros G Voulgaris, Mansour Karkoub

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages5392-5397
Number of pages6
StatePublished - Sep 11 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

    Fingerprint

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Atinc, G. M., Stipanovic, D. M., Voulgaris, P. G., & Karkoub, M. (2013). Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems. In 2013 American Control Conference, ACC 2013 (pp. 5392-5397). [6580680] (Proceedings of the American Control Conference).