 |
Conference papers
A Strategy for Multi-Robot Navigation
Abstract : The paper addresses the problem of trajectory regulation of driftless systems such that a stabilizing control input is assumed exists. The perturbed trajectory depends on a regulation control-input which must be designed such that the system's stability is preserved and some undesirable sets belonging to navigation area must be avoided. For the stability and regulation of a multi-robot system a converging attractive set around the target is constructed and a repulsive set around obstacles is emphasized. Taking into account a communication algorithm agents-agents to agents-target, we prove that the proposed regulation control-input preserves the navigation area invariance property and the system's stability. Simulation results illustrate the effectiveness of he proposed control algorithm.
Cited literature [24 references]
https://hal.archives-ouvertes.fr/hal-00653812
Contributor : Frédéric Davesne <>
Submitted on : Thursday, January 16, 2020 - 4:26:09 PM
Last modification on : Saturday, May 1, 2021 - 3:38:32 AM
Long-term archiving on: : Friday, April 17, 2020 - 6:56:42 PM
Contributor : Frédéric Davesne <>
Submitted on : Thursday, January 16, 2020 - 4:26:09 PM
Last modification on : Saturday, May 1, 2021 - 3:38:32 AM
Long-term archiving on: : Friday, April 17, 2020 - 6:56:42 PM
File
Beji06160369.pdf
Files produced by the author(s)
Licence
Distributed under a Creative Commons Attribution 4.0 International License
