A General Approach to Coordination Control of Mobile Agents With Motion Constraints

• Published in: IEEE transactions on automatic control Vol. 63; no. 5; pp. 1509 - 1516
• Main Authors: Zhao, Shiyu, Dimarogonas, Dimos V., Sun, Zhiyong, Bauso, Dario
• Format: Journal Article
• Language: English
• Published: IEEE 01.05.2018
• Subjects: Collision avoidance; Control system synthesis; Convergence; coordination control; Mobile agents; Mobile robots; Multi-agent systems; non-holonomic constraints; nonholonomic constraints; obstacle avoidance; Path planning; velocity saturation

This paper proposes a general approach to design convergent coordination control laws for multiagent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be ea...