Time-critical coordination of multiple vehicles with uni-directional communication constraints

Amanda Dippold, Lili Ma, Naira Hovakimyan

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

Abstract

This paper presents a decentralized uni-directional coordination control law for a fleet of mobile robots that must arrive at a final destination simultaneously. Coordination in time of all vehicles is achieved via a leaderless PI controller that adjusts the desired velocity profile of each vehicle. The method is applicable to formation control along a path by appropriate choice of the coordination parameters.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages1617-1622
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Dippold, A., Ma, L., & Hovakimyan, N. (2010). Time-critical coordination of multiple vehicles with uni-directional communication constraints. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 1617-1622). [5531610] (Proceedings of the 2010 American Control Conference, ACC 2010).