Abstract
In this paper we present a theoretical and experimental result on the control of multi-agent non-holonomic systems. We design and implement a novel decentralized control scheme that achieves dynamic formation control and collision avoidance for a group of non-holonomic robots. First, we derive a feedback law using Lyapunov-type analysis that guarantees collision avoidance and tracking of a reference trajectory for a single robot. Then we extend this result to the case of multiple non-holonomic robots, and show how different multi-agent problems, such as formation control and leader-follower control, can be addressed in this framework. Finally, we combine the above results to address the problem of coordinated tracking for a group of agents. We give extensive experimental results that validate the effectiveness of our results in all three cases.
Original language | English (US) |
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Pages (from-to) | 107-126 |
Number of pages | 20 |
Journal | International Journal of Robotics Research |
Volume | 27 |
Issue number | 1 |
DOIs | |
State | Published - Jan 2008 |
Keywords
- Autonomous agents
- Collision avoidance
- Control of non-holonomic systems
- Distributed robot systems
- Formation control
- Wheeled robots
ASJC Scopus subject areas
- Software
- Modeling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence
- Applied Mathematics