Introduction to Algorithms
Convex Optimization
Planning Algorithms
Necessary and sufficient conditions for reachability on a simplex
Automatica (Journal of IFAC)
Abstraction and control for Groups of robots
IEEE Transactions on Robotics
Stability analysis of social foraging swarms
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A control problem for affine dynamical systems on a full-dimensional polytope
Automatica (Journal of IFAC)
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We propose a method for synthesizing decentralized feedback controllers for a team of multiple heterogeneous agents navigating a known environment with obstacles. The controllers are designed to drive agents with limited team state information to goal sets while avoiding collisions and maintaining specified proximity constraints. The method, its successful application to nonholonomic agents in dynamic simulation and experimentation, and its limitations are presented in this paper.