Polyhedral cone invariance applied to rendezvous of multiple agents Conference Paper

abstract

• In this paper, we pose the N-scalar agent rendezvous as a polyhedral cone invariance problem in the N dimensional phase space. The underlying dynamics of the agents are assumed to be linear. We derive a condition for positive invariance for polyhedral cones. Based on this condition, we demonstrate that the problem of determining a certificate for rendezvous can be stated as a convex feasibility problem. Under certain rendezvous requirements, we show that there are no robust closed-loop linear solutions that satisfy the invariance conditions. We show that the treatment of the rendezvous problem on the phase plane can be extended to the case where agent dynamics are non-scalar.

name of conference

• 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

authors

• Bhattacharya, Raktim

published proceedings

• 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5

author list (cited authors)

• Tiwari, A., Fung, J., Bhattacharya, R., & Murray, R. M.

citation count

• 20

complete list of authors

• Tiwari, A||Fung, J||Bhattacharya, R||Murray, RM

publication date

• January 2004

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control  Journal

keywords

• 40 Engineering
• 49 Mathematical Sciences
• 4901 Applied Mathematics

Digital Object Identifier (DOI)

• 10.1109/CDC.2004.1428624

International Standard Book Number (ISBN) 10

• 0-7803-8682-5

start page

• 165

end page

• 170

volume

• 1

URL

• http%3A%2F%2Fdx.doi.org%2F10.1109%2Fcdc.2004.1428624