DocumentCode
1867944
Title
Decentralized feedback controllers for multi-agent teams in environments with obstacles
Author
Ayanian, Nora ; Kumar, Vijay
Author_Institution
Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA
fYear
2008
fDate
19-23 May 2008
Firstpage
1936
Lastpage
1941
Abstract
We propose a method for synthesizing decentralized feedback controllers for a team of multiple heterogeneous agents navigating a known environment with obstacles. The controllers are designed to drive agents with limited team state information to goal sets while avoiding collisions and maintaining specified proximity constraints. The method, its successful application to nonholonomic agents in dynamic simulation, and its limitations are presented in this paper.
Keywords
collision avoidance; decentralised control; feedback; mobile robots; multi-robot systems; decentralized feedback controllers; multiagent teams; multiple heterogeneous agents; nonholonomic agents; Adaptive control; Communication system control; Convergence; Feedback; Navigation; Orbital robotics; Robot kinematics; Robotics and automation; USA Councils; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location
Pasadena, CA
ISSN
1050-4729
Print_ISBN
978-1-4244-1646-2
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2008.4543490
Filename
4543490
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