Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments

  • Authors:

  • Silvia Mastellone;Dušan M. Stipanović;Christopher R. Graunke;Koji A. Intlekofer;Mark W. Spong

  • Affiliations:

  • Coordinated Science Laboratory, University of Illinois,1308 West Main Street, Urbana, IL 61801, USA {smastel2,dusan,graunke,intlekof,mspong}@uiuc.edu;Coordinated Science Laboratory, University of Illinois,1308 West Main Street, Urbana, IL 61801, USA;Coordinated Science Laboratory, University of Illinois,1308 West Main Street, Urbana, IL 61801, USA;Coordinated Science Laboratory, University of Illinois,1308 West Main Street, Urbana, IL 61801, USA;Coordinated Science Laboratory, University of Illinois,1308 West Main Street, Urbana, IL 61801, USA

  • Venue:
  • International Journal of Robotics Research
  • Year:
  • 2008

Quantified Score

Hi-index 0.00

Visualization

Abstract

In this paper we present a theoretical and experimentalresult on the control of multi-agent non-holonomic systems. Wedesign and implement a novel decentralized control scheme thatachieves dynamic formation control and collision avoidance for agroup of non-holonomic robots. First, we derive a feedback lawusing Lyapunov-type analysis that guarantees collision avoidanceand tracking of a reference trajectory for a single robot. Then weextend this result to the case of multiple non-holonomic robots,and show how different multi-agent problems, such as formationcontrol and leader-follower control, can be addressed in thisframework. Finally, we combine the above results to address theproblem of coordinated tracking for a group of agents. We giveextensive experimental results that validate the effectiveness ofour results in all three cases.