On the rendezvous problem for multiple nonholonomic agents

IEEE Transactions on Automatic Control

Volumn 52, Issue 5, 2007, Pages 916-922

  Dimarogonas, Dimos V ^a   Kyriakopoulos, Kostas J ^a  

^a NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

Author keywords

Cooperative control; Decentralized control; Nonholonomic agents

Indexed keywords

FEEDBACK CONTROL; GRAPH THEORY; LYAPUNOV METHODS;

COOPERATIVE CONTROL; NONHOLONOMIC AGENTS;

DECENTRALIZED CONTROL;

EID: 34249042262     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2007.895897     Document Type: Article

References (24)

1. H. Ando, Y. Oasa, I. Suzuki, and Yamashita, "Distributed memoryless point convergence algorithm for mobile robots with limited visibility," IEEE Trans. Robot. Automat., vol. 15, no. 5, pp. 818-828, Oct. 1999.
2. B. Bollobás, Modern Graph Theory, ser. Springer Graduate Texts in Mathematics 184. New York: Springer-Verlag, 1998.
3. R. W. Brockett, "Control theory and singular riemannian geometry," in New Directions in Applied Mathematics. New York: Springer-Verlag, 1981, pp. 11-27.
4. F. Ceragioli, "Discontinuous Ordinary Differential Equations and Stabilization," Ph.D. thesis, Dept. Math., Univ. di Firenze, Firenze, Italy, 1999.
5. F. Clarke, Optimization and Nonsmooth Analysis. Reading, MA: Addison-Wesley, 1983.
6. J. Cortes, S. Martinez, and F. Bullo, "Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions," IEEE Trans. Autom. Control, vol. 51, no. 8, pp. 1289-1298, Aug. 2006.
7. D. V. Dimarogonas and K. J. Kyriakopoulos, "On the state agreement problem for multiple unicycles," in Proc. 2006 Amer. Control Conf. pp. 2016-2021.
8. D. V. Dimarogonas and K. J. Kyriakopoulos, "On the state agreement problem for multiple unicycles with varying communication links," in Proc. 45th IEEE Conf. Decision Control, 2006, pp. 4283-4288.
9. A. Filippov, Differential Equations With Discontinuous Right-Hand Sides. Norwell, MA: Kluwer, 1988.
10. R. A. Horn and C. R. Johnson, Matrix Analysis. Cambridge, U.K.: Cambridge Univ. Press, 1996.
11. A. Jadbábaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. Autom. Control, vol. 48, no. 6, pp. 988-1001, Jun. 2003.
12. M. Ji and M. Egerstedt, "Connectedness preserving distibuted coordination control over dynamic graphs," in Proc. Amer. Control Conf., 2005, pp. 93-98.
13. B. Kim and P. Tsiotras, "Controllers for unicycle-type wheeled robots: Theoretical results and experimental validation," IEEE Trans. Robot. Automat., vol. 18, no. 3, pp. 294-307, Jun. 2002.
14. G. Lafferriere, A. Williams, J. Caughman, and J. J. P. Veerman, "Decentralized control of vehicle formations," Syst. Control Lett. vol. 54, no. 9, pp. 899-910, 2005.
15. Z. Lin, B. Francis, and M. Maggiore, "Necessary and sufficient graphical conditions for formation control of unicycles," IEEE Trans. Autom. Control, vol. 50, no. 1, pp. 121-127, Jan. 2005.
16. D. G. Luenberger, Introduction to Dynamic Systems: Theory, Models and Applications. New York: Wiley, 1979.
17. L. Moreau, "Stability of continuous-time distributed consensus algorithms," in Proc. 43rd IEEE Conf. Decision Control, 2004, pp. 3998-4003.
18. A. Muhammad and M. Egerstedt, "Connectivity graphs as models of local interactions," in Proc. 43rd IEEE Conf. Decision Control, 2004, pp. 124-129.
19. R. Olfati-Saber and R. M. Murray, "Consensus problems in networks of agents with switching topology and time-delays," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1520-1533, Sep. 2004.
20. B. Paden and S. S. Sastry, "A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators," IEEE Trans. Circuits Syst., vol. 34, no. 1, pp. 73-82, Jan. 1987.
21. W. Ren, R. W. Beard, and E. M. Atkins, "A survey of consensus problems in multi-agent coordination," in Proc. Amer. Control Conf., 2005, pp. 1859-1864.
22. D. Shevitz and B. Paden, "Lyapunov stability theory of nonsmooth systems," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1910-1914, Sep. 1994.
23. H. Tanner and K. J. Kyriakopoulos, "Backstepping for nonsmooth systems," Automatica, vol. 39, pp. 1259-1265, 2003.
24. H. Yamaguchi and J. W. Burdick, "Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations," in Proc. IEEE Int. Conf. Robot. Automat., 1998, pp. 3573-3580.