Collision-Free Trajectory Tracking while Preserving Connectivity in Unicycle Multi-Agent Systems
Conference Paper
Overview
Identity
Additional Document Info
Other
View All
Overview
abstract
In this paper we address a multi-objective control problem for a group of kinematic unicycle agents. Namely, we consider three objectives; trajectory tracking, collision avoidance, and connectivity maintenance. By integrating the gradients of the avoidance and connectivity functions into the desired orientations of agents, using Lyapunov-type analysis, we prove that agents track reference trajectories with bounded errors, while avoiding collisions and maintaining connectivity. 2013 AACC American Automatic Control Council.