Collision-Free Trajectory Tracking while Preserving Connectivity in Unicycle Multi-Agent Systems
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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.
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2013 American Control Conference
published proceedings
2013 AMERICAN CONTROL CONFERENCE (ACC)
author list (cited authors)
Atinc, G. M., Stipanovic, D. M., Voulgaris, P. G., & Karkoub, M.