Decentralized Navigation Functions for Multiple Robotic Agents with Limited Sensing Capabilities

Authors:
Dimos V. Dimarogonas;Kostas J. Kyriakopoulos
Affiliations:
Control Systems Laboratory, Mechanical Engineering Department, National Technical University of Athens, Athens, Greece;Control Systems Laboratory, Mechanical Engineering Department, National Technical University of Athens, Athens, Greece
Venue:
Journal of Intelligent and Robotic Systems
Year:
2007

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Abstract

The decentralized navigation function methodology, established in our previous work for navigation of multiple holonomic agents with global sensing capabilities is extended to the case of local sensing capabilities. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations.