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.
引用
收藏
页码：1369 / +
页数：2
相关论文
共 50 条
  • [21] Finite time consensus problem for multiple non-holonomic agents with communication delay
    Jiankui Wang
    Jiankuan Fu
    Guoshan Zhang
    [J]. Journal of Systems Science and Complexity, 2015, 28 : 559 - 569
  • [22] Smooth attitude feedback control with non-holonomic constraints
    Aicardi, M
    Cannata, G
    Casalino, G
    [J]. PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1996, : 1706 - 1711
  • [23] Planning and Control of Ensembles of Robots with Non-holonomic Constraints
    Michael, Nathan
    Kumar, Vijay
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2009, 28 (08): : 962 - 975
  • [24] Mechanical systems subjected to generalized non-holonomic constraints
    Cortés, J
    de León, M
    de Diego, DM
    Martínez, S
    [J]. PROCEEDINGS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES, 2001, 457 (2007): : 651 - 670
  • [25] Hamilton’s principle and Hamilton’s equations with holonomic and non-holonomic constraints
    Earl Dowell
    [J]. Nonlinear Dynamics, 2017, 88 : 1093 - 1097
  • [26] The relativistic particle as a mechanical system with non-holonomic constraints
    Krupková, O
    Musilová, J
    [J]. JOURNAL OF PHYSICS A-MATHEMATICAL AND GENERAL, 2001, 34 (18): : 3859 - 3875
  • [27] Coordination and control of multiarm, non-holonomic mobile manipulators
    Casalino, G
    Turetta, A
    [J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 2203 - 2210
  • [28] Symplectic cuts and projection quantization for non-holonomic constraints
    Bojowald, M
    Strobl, T
    [J]. INTERNATIONAL JOURNAL OF MODERN PHYSICS D, 2003, 12 (04): : 713 - 725
  • [29] Anisotropic dry friction and unilateral non-holonomic constraints
    Vil'ke, V. G.
    [J]. PMM JOURNAL OF APPLIED MATHEMATICS AND MECHANICS, 2008, 72 (01): : 3 - 8
  • [30] Non-holonomic control II : Non-holonomic quantum devices
    Brion, E
    Akulim, VM
    Comparat, D
    Dumer, I
    Gershkovich, V
    Harel, G
    Kurizki, G
    Mazets, I
    Pillet, P
    [J]. Quantum Informatics 2004, 2004, 5833 : 70 - 79
12345