a Coordination of Multiple Non-Holonomic Agents with Input Constraints

被引：0
|
作者：
Oikonomopoulos, Apollon S. [1 ]
Loizou, Savvas G. [2 ]
Kyriakopoulos, Kostas J. [1 ]
机构：
[1] Natl Tech Univ Athens, Control Syst Lab, GR-10682 Athens, Greece
[2] Frederick Univ, Mech Engn Dept, Nicosia, Cyprus
来源：
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
关键词：
NAVIGATION;
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：
In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained non-holonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements.
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页码：1369 / +
页数：2
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