Flocking with obstacle avoidance in switching networks of interconnected vehicles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 3, 2004, Pages 3006-3011

  Tanner, Herbert G ^a  

^a University of New Mexico   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGEBRA; AUTOMATION; COLLISION AVOIDANCE; COMPUTER SIMULATION; DIFFERENTIAL EQUATIONS; LAPLACE TRANSFORMS; LYAPUNOV METHODS; MATHEMATICAL MODELS; MULTI AGENT SYSTEMS; SWITCHING NETWORKS; SYNCHRONIZATION; TOPOLOGY; VELOCITY CONTROL;

AUTONOMOUS VEHICLES; FLOCKING PROCESS; INTERCONNECTED VEHICLES; NONSMOOTH SYSTEMS; VELOCITY VECTORS;

UNMANNED VEHICLES;

EID: 3042624895     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307518     Document Type: Conference Paper

References (31)

1. Frank H. Clarke. Optimization and Nonsmooth Analysis. Classics in applied mathematics; 5. SIAM, Philadelphia, 1990.
2. Jorge Cortes, Sonia Martinez, Timur Karatas, and Francesco Bullo. Coverage control for mobile sensing networks. IEEE Transactions on Robotics and Automation, 2002. (submitted).
3. J. P. Desai, J. P. Ostrowski, and V. Kumar. Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 17(6):905-908, 2001.
4. M.R. Evans. Spontaneous symmetry breaking in a one dimensional driven diffusive system. Physical Review Letters, 74:208-211, 1995.
5. J. Alexander Fax and Richard M. Murray. Graph Laplacians and stabilization of vehicle formations. 15th IFAC Congress, Barcelona, Spain, 2002.
6. A. F. Filippov. Differential equations with discontinuous right-hand side. Mathematics and Its Applications (Soviet Series). Kluwer Academic Publishers, The Netherlands, 1988.
7. V. Gazi and K. M. Passino. Stability analysis of swarms. IEEE Transactions on Automatic Control, 48(4):692-696, April 2003.
8. A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6):988-1001, July 2002.
9. E.W. Justh and P.S. Krishnaprasad. A simple control law for UAV formation flying. Technical Report 2002-38, Institute for Systems Research, 2002.
10. M. Kardar, G. Parisi, and Y.-C. Zhang. Dynamic scaling of growing interfaces. Physical Review Letters, 56:889-892, 1986.
11. N. Leonard and E. Friorelli. Virtual leaders, artificial potentials and coordinated control of groups. IEEE Conference on Decision and Control, 2001.
12. H. Levine and W. J. Rappel. Self organization in systems of self-propelled particles. Physical Review E, 63:208-211, 2001.
13. Y. Liu, K. M. Passino, and M. M. Polycarpou. Stability analysis of m-dimensional asynchronous swarms with a fixed communication topology. IEEE Transactions on Automatic Control, 48(1):76-95, February 2003.
14. A. S. Mikhailov and D. Zannette. Noise induced breakdown of collective coherent motion in swarms. Physical Review E, 60:4571-4575, 1999.
15. P. Ogren, M. Egerstedt, and X. Hu. A control Lyapunov function approach to multi-agent coordination. IEEE Transactions on Robotics and Automation, 18(5), October 2002.
16. R. Olfati and R. M. Murray. Distributed structural stabilization and tracking for formations of dynamic multi-agents. In IEEE Conference on Decision and Control, Las Vegas, NV, 2002.
17. Brad Paden and Shankar Sastry. A calculus for computing filipov's differential inclusion with application to the variable structure control of robot manipulators. IEEE Transactions on Circuits and Systems, CAS-34(1):73-82, 1987.
18. A. Pant, P. Seiler, T. J. Koo, and K. Hedrick. Mesh stability of unmanned aerial vehicle clusters. Proceedings of the American Control Conference, 1:62-68, June 2001.
19. John H. Reif and Hongyang Wang. Social potential fields: A distributed behavioral control for autonomous robots. Robotics and Autonomous Systems, 27:171-194, 1999.
20. C. Reynolds. Flocks, birds, and schools: a distributed behavioral model. Computer Graphics, 21:25-34, 1987.
21. E. Rimon and D. Koditschek. Exact robot navigation using artificial potential functions. IEEE Transactions on Robotics and Automation, 8(5):501-518, October 1992.
22. Reza Olfati Saber and Richard M. Murray. Flocking with obstacle avoidance: Cooperation with limited communication in mobile networks. In Proceedings of the IEEE Conference on Decision and Control, pages 2022-2028, Maui, Hawaii, December 9-12 2003.
23. Daniel Shevitz and Brad Paden. Lyapunov stability theory of nonsmooth systems. IEEE Transactions on Automatic Control, 39(9):1910-1914, 1994.
24. N. Shimoyama, K. Sugawa, T. Mizuguchi, Y. Hayakawa, and M. Sano. Collective motion in a system of motile elements. Physical Review Letters, 76:3879-3873, 1996.
25. P. Tabuada, G. J. Pappas, and P. Lima. Feasible formations of multi-agent systems. In Proceedings of the American Control Conference, Arlington, VA, 2001.
26. H. G. Tanner, S. G. Loizou, and K. J. Kyriakopoulos. Nonholonomic navigation and control of multiple mobile manipulators. IEEE Transactions on Robotics and Automation, 19(1):53-64, February 2003.
27. Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas. Stable flocking of mobile agents, Part I: Fixed topology. In Proceedings of the IEEE Conference on Decision and Control, pages 2010-2015, Maui, Hawaii, December 9-12 2003.
28. Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas. Stable flocking of mobile agents, Part II: Dynamic topology. In Proceedings of the IEEE Conference on Decision and Control, pages 2016-2021, Maui, Hawaii, December 9-12 2003.
29. J. Toner and Y. Tu. Long range order in a two dimensional xy model: How birds fly together. Physical Review Letters, 75:4326-4329, 1995.
30. T. Vicsek, A. Czirok, E. Ben Jacob, I. Cohen, and O. Schochet. Novel type of phase transitions in a system of self-driven particles. Physical Review Letters, 75:1226-1229, 1995.
31. R. Vidal, O. Shakernia, and S. Sastry. Distributed formation control with omnidirectional vision based motion segmentation and visual servoing. Robotics and Automation Magazine, 2003. (to appear).