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.

name of conference

  • 2013 American Control Conference

published proceedings


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

  • June 2013