Abstract:
A group of agents is required to achieve a desired final configuration or shape while avoiding collision. We design control laws that accomplish this task based on potent...Show MoreMetadata
Abstract:
A group of agents is required to achieve a desired final configuration or shape while avoiding collision. We design control laws that accomplish this task based on potential methods. The controller requires the agents to lie on a desired target manifold, which is assumed to be given by the zero set of a function with certain property. The collision avoidance scheme is local in nature, that is, it restricts the communication to neighboring agents which ensures numerical efficiency.
Published in: 2007 46th IEEE Conference on Decision and Control
Date of Conference: 12-14 December 2007
Date Added to IEEE Xplore: 21 January 2008
ISBN Information:
Print ISSN: 0191-2216