Multirobot Navigation Functions II: Towards decentralization

被引：0
|
作者：
Dimarogonas, Dimos V. [1 ]
Loizou, Savvas G. [1 ]
Kyriakopoulos, Kostas J. [1 ]
机构：
[1] Natl Tech Univ Athens, Control Syst Lab, Zografos 15780, Greece
来源：
STOCHASTIC HYBRID SYSTEMS: THEORY AND SAFETY CRITICAL APPLICATIONS | 2006年 / 337卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This is the second part of a two part paper regarding Multirobot Navigation Functions. In this part, we discuss extensions of the centralized scheme presented in the first part, towards decentralization concepts. Both holonomic and nonholonomic kinematic models are considered and the limited sensing capabilities of each agent are taken into account. An extension to dynamic models of the agents' motion is also included. The conflict resolution as well as destination convergence properties are verified in each case through nontrivial computer simulations.
引用
收藏
页码：209 / 253
页数：45
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