A feedback stabilization and collision avoidance scheme for multiple independent non-point agents

Authors:
Dimos V. Dimarogonas;Savvas G. Loizou;Kostas J. Kyriakopoulos;Michael M. Zavlanos
Affiliations:
Control Systems Laboratory, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece;Control Systems Laboratory, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece;Control Systems Laboratory, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece;Electrical and Systems Engineering, University of Pennsylvania, 200 South 33rd Street, Philadelphia, PA 19104, USA
Venue:
Automatica (Journal of IFAC)
Year:
2006

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Abstract

A navigation functions' based methodology, established in our previous work for centralized multiple robot navigation, is extended to address the problem of decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the sum of the separate navigation functions. The collision avoidance and global convergence properties are verified through simulations.