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

19 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 - 11 Sep 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: 17 Jun 201319 Jun 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

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

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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] (Proceedings of the American Control Conference).