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Multirobot Navigation Functions II: Towards Decentralization

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Stochastic Hybrid Systems

Part of the book series: Lecture Notes in Control and Information Science ((LNCIS,volume 337))

Abstract

This is the second part of a two part paper regarding Multirobot Navigation Functions. In this part, we discuss extensions of the centralized scheme presented in the first part, towards decentralization concepts. Both holonomic and nonholonomic kinematic models are considered and the limited sensing capabilities of each agent are taken into account. An extension to dynamic models of the agents’ motion is also included. The conflict resolution as well as destination convergence properties are verified in each case through nontrivial computer simulations.

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Authors and Affiliations

  1. Control Systems Laboratory, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece

    Dimos V. Dimarogonas, Savvas G. Loizou & Kostas J. Kyriakopoulos

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  1. Dimos V. Dimarogonas
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  2. Savvas G. Loizou
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  3. Kostas J. Kyriakopoulos
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Henk A. P. Blom John Lygeros

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Dimarogonas, D.V., Loizou, S.G., Kyriakopoulos, K.J. Multirobot Navigation Functions II: Towards Decentralization. In: Blom, H.A.P., Lygeros, J. (eds) Stochastic Hybrid Systems. Lecture Notes in Control and Information Science, vol 337. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11587392_7

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  • DOI: https://doi.org/10.1007/11587392_7

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-33466-8

  • Online ISBN: 978-3-540-33467-5

  • eBook Packages: EngineeringEngineering (R0)

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