Coordination of multiple non-holonomic agents with input constraints

Authors:
Apollon S. Oikonomopoulos;Savvas G. Loizou;Kostas J. Kyriakopoulos
Affiliations:
Control Systems Lab, National Technical Univ. of Athens, Greece;Mech. Eng. Dept., Frederick University, Cyprus;Control Systems Lab, National Technical Univ. of Athens, Greece
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained nonholonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements.