Collision-Free Trajectory Tracking while Preserving Connectivity in Unicycle Multi-Agent Systems Conference Paper

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.

name of conference

• 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.

citation count

• 25

complete list of authors

• Atinc, Goekhan M||Stipanovic, Dusan M||Voulgaris, Petros G||Karkoub, Mansour

publication date

• August 2013

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... American Control Conference. American Control Conference  Journal

Digital Object Identifier (DOI)

• 10.1109/acc.2013.6580680

International Standard Book Number (ISBN) 13

• 9781479901777

start page

• 5392

end page

• 5397

URL

• https://doi.org/10.1109/ACC31500.2013