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

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...

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Bibliographic Details
Published inIEEE 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
LanguageEnglish
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
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Summary: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 easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angular velocity saturation, and other path constraints while preserving the convergence of the entire multiagent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints.
ISSN:0018-9286
1558-2523
1558-2523
DOI:10.1109/TAC.2017.2750924