Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles

被引：29
|
作者：
Ayanian, Nora [1 ]
Kumar, Vijay [1 ]
机构：
[1] Univ Penn, Dept Mech Engn & Appl Mech, Philadelphia, PA 19104 USA
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 05期
基金：
美国国家科学基金会;
关键词：
Decentralized feedback control; mobile robot motion planning; motion control; path planning for multiple mobile robot systems;
D O I：
10.1109/TRO.2010.2062070
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We propose a method for synthesizing decentralized feedback controllers for a team of multiple heterogeneous agents navigating a known environment with obstacles. The controllers are designed to drive agents with limited team state information to goal sets while avoiding collisions and maintaining specified proximity constraints. The method, its successful application to nonholonomic agents in dynamic simulation and experimentation, and its limitations are presented in this paper.
引用
收藏
页码：878 / 887
页数：10
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