Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems

Gokhan M. Atinc, Dusan M. Stipanovic, Petros G. Voulgaris, Mansour Karkoub

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

In this paper we address a multi-objective control problem for a group of kinematic unicycle agents. Namely, we consider three objectives; trajectory tracking, collision avoidance, and connectivity maintenance. By integrating the gradients of the avoidance and connectivity functions into the desired orientations of agents, using Lyapunov-type analysis, we prove that agents track reference trajectories with bounded errors, while avoiding collisions and maintaining connectivity.

Original languageEnglish
Title of host publication2013 American Control Conference, ACC 2013
Pages5392-5397
Number of pages6
Publication statusPublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: 17 Jun 201319 Jun 2013

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period17/6/1319/6/13

Fingerprint

Multi agent systems
Trajectories
Collision avoidance
Kinematics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Atinc, G. M., Stipanovic, D. M., Voulgaris, P. G., & Karkoub, M. (2013). Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems. In 2013 American Control Conference, ACC 2013 (pp. 5392-5397). [6580680]

Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems. / Atinc, Gokhan M.; Stipanovic, Dusan M.; Voulgaris, Petros G.; Karkoub, Mansour.

2013 American Control Conference, ACC 2013. 2013. p. 5392-5397 6580680.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Atinc, GM, Stipanovic, DM, Voulgaris, PG & Karkoub, M 2013, Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems. in 2013 American Control Conference, ACC 2013., 6580680, pp. 5392-5397, 2013 1st American Control Conference, ACC 2013, Washington, DC, United States, 17/6/13.
Atinc GM, Stipanovic DM, Voulgaris PG, Karkoub M. Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems. In 2013 American Control Conference, ACC 2013. 2013. p. 5392-5397. 6580680
Atinc, Gokhan M. ; Stipanovic, Dusan M. ; Voulgaris, Petros G. ; Karkoub, Mansour. / Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems. 2013 American Control Conference, ACC 2013. 2013. pp. 5392-5397
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