Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles

被引：29

作者：

Ayanian, Nora ^{[1
]}

Kumar, Vijay ^{[1
]}

机构：

[1] Univ Penn, Dept Mech Engn & Appl Mech, Philadelphia, PA 19104 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 05期

基金：

美国国家科学基金会;

关键词：

Decentralized feedback control; mobile robot motion planning; motion control; path planning for multiple mobile robot systems;

D O I：

10.1109/TRO.2010.2062070

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 experimentation, and its limitations are presented in this paper.

引用

页码：878 / 887

页数：10

共 30 条

[1]

[Anonymous], 2004, MULTIPARAMETRIC TOOL

[2] Decentralized feedback controllers for multi-agent teams in environments with obstacles [J].

Ayanian, Nora ;

Kumar, Vijay .

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, :1936-1941

[3] Abstractions and Controllers for Groups of Robots in Environments with Obstacles [J].

Ayanian, Nora ;

Kumar, Vijay .

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, :3537-3542

[4] Abstraction and control for groups of robots [J].

Belta, C ;

Kumar, V .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (05) :865-875

[5]

Boyd S.P, 2004, Convex optimization, DOI [DOI 10.1017/CBO9780511804441, 10.1017/CBO9780511804441]

[6]

Conner DavidC., 2006, Robotics: Science and Systems

[7]

Conner DC, 2003, IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P3546

[8]

Cormen T., 2001, Introduction to Algorithms

[9]

COWAN N, 2003, P IEEE RSJ INT C INT, V2, P1796

[10] Modeling and control of formations of nonholonomic mobile robots [J].

Desai, JP ;

Ostrowski, JP ;

Kumar, V .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17 (06) :905-908

← 1 2 3 →