A General Approach to Coordination Control of Mobile Agents With Motion Constraints
- Submitting institution
-
The University of Sheffield
- Unit of assessment
- 12 - Engineering
- Output identifier
- 8236
- Type
- D - Journal article
- DOI
-
10.1109/TAC.2017.2750924
- Title of journal
- IEEE Transactions on Automatic Control
- Article number
- -
- First page
- 1509
- Volume
- 63
- Issue
- 5
- ISSN
- 0018-9286
- Open access status
- Compliant
- Month of publication
- September
- Year of publication
- 2017
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- The simplest single-integrator dynamic model has been widely used to derive and analyse coordination control laws for multi-agent systems. It was, however, widely believed that this model was too simple to well approximate real robot dynamics to generate any practically useful control laws. This paper demonstrates for the first time the practicality of the single-integrator model by proposing a rigorous new approach to modify any gradient coordination control laws designed for single integrators to adapt for motion constraints. The proposed approach can also be applied to solve obstacle avoidance problems.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -