Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems Conference Paper uri icon


  • 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.

author list (cited authors)

  • Atinc, G. M., Stipanovic, D. M., Voulgaris, P. G., & Karkoub, M.

publication date

  • January 1, 2013 11:11 AM