Multi-objective control for multi-agent systems using Lyapunov-like barrier functions

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2013, Pages 1478-1483

  Panagou, Dimitra ^a   Stipanović, Dušan M ^a   Voulgaris, Petros G ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DISTRIBUTED PARAMETER CONTROL SYSTEMS; ENCODING (SYMBOLS);

APPROXIMATION FUNCTION; DISTRIBUTED CONTROL; LYAPUNOV-BASED ANALYSIS; LYAPUNOV-LIKE FUNCTIONS; MULTI-AGENT COORDINATION AND CONTROL; MULTI-OBJECTIVE CONTROL; NONHOLONOMIC VEHICLES; SET THEORETIC FORMULATIONS;

MULTI AGENT SYSTEMS;

EID: 84902336202     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2013.6760091     Document Type: Conference Paper

References (22)

1. W. Ren and Y. Cao, "Overview of recent research in distributed multi-agent coordination, " in Distributed Coordination of Multi-agent Networks, ser. Communications and Control Engineering. Springer- Verlag London Limited, 2011, ch. 2, pp. 23-41.
2. L. E. Parker, "Path planning and motion coordination in multiple mobile robot teams, " in Encyclopedia of Complexity and System Science, R. A. Meyers, Ed. Springer, 2009.
3. A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules, " IEEE Trans. on Automatic Control, vol. 48, no. 6, pp. 988-1001, Jun. 2003.
4. R. Olfati-Saber, "Flocking for multi-agent dynamic systems: Algorithms and theory, " IEEE Trans. on Automatic Control, vol. 51, no. 3, pp. 401-420, Mar. 2006.
5. H. G. Tanner, A. Jadbabaie, and G. J. Pappas, "Flocking in fixed and switching networks, " IEEE Trans. on Automatic Control, vol. 52, no. 5, pp. 863-868, May 2007.
6. H. Su, X. Wang, and Z. Lin, "Flocking of multi-agents with a virtual leader, " IEEE Trans. on Automatic Control, vol. 54, no. 2, pp. 293- 307, Feb. 2009.
7. M. Ji and M. Egerstedt, "Distributed coordination control of multiagent systems while preserving connectedness, " IEEE Trans. on Robotics, vol. 23, no. 4, pp. 693-703, Aug. 2007.
8. R. Olfati-Saber, J. A. Fax, and R. M. Murray, "Consensus and cooperation in networked multi-agent systems, " Proceedings of the IEEE, vol. 95, no. 1, pp. 215-233, Jan. 2007.
9. D. V. Dimarogonas and K. J. Kyriakopoulos, "A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems, " Automatica, vol. 44, no. 10, pp. 2648-2654, Oct. 2008.
10. S. Mastellone, D. M. Stipanovic, C. R. Graunke, K. A. Intlekofer, and M. W. Spong, "Formation control and collision avoidance for multi-agent non-holonomic systems: Theory and experiments, " The Int. Journal of Robotics Research, vol. 27, no. 1, pp. 107-126, Jan. 2008.
11. M. M. Zavlanos, M. B. Egerstedt, and G. J. Pappas, "Graph-theoretic connectivity control of mobile robot networks, " Proceedings of the IEEE, vol. 99, no. 9, pp. 1525-1540, Sep. 2011.
12. J. Cortes, S. Martinez, T. Karatas, and F. Bullo, "Coverage control for mobile sensing networks, " IEEE Trans. on Robotics and Automation, vol. 20, no. 2, pp. 243-255, 2004.
13. I. I. Hussein and D. M. Stipanovic, "Effective coverage control for mobile sensor networks with guaranteed collision avoidance, " IEEE Trans. on Control Systems Technology, vol. 15, no. 4, pp. 642-657, Jul. 2007.
14. M. Schwager, J.-J. Slotine, and D. Rus, "Unifying geometric, probabilistic, and potential field approaches to multi-robot coverage control, " in Tracts in Advanced Robotics, ser. Robotics Research. Springer, 2011, vol. 70, pp. 21-38.
15. F. Pasqualetti, A. Franchi, and F. Bullo, "On cooperative patrolling: Optimal trajectories, complexity analysis and approximation algorithms, " IEEE Trans. on Robotics, vol. 28, no. 3, pp. 592-606, 2012.
16. F. Blanchini and S. Miani, Set-Theoretic Methods in Control. Birkhauser, 2008.
17. A. G. Wills and W. P. Heath, "A recentred barrier for constrained receding horizon control, " in Proc. of the American Control Conference, Anchorage, AK, USA, May 2002, pp. 4177-4182.
18. D. M. Stipanovic, C. J. Tomlin, and G. Leitmann, "Monotone approximations of minimum and maximum functions and multi-objective problems, " Applied Mathematics and Optimization, vol. 66, pp. 455- 473, 2012.
19. D. M. Stipanovic, C. Valicka, C. J. Tomlin, and T. R. Bewley, "Safe and reliable coverage control, " Numerical Algebra, Control and Optimization, vol. 3, pp. 31-48, 2013.
20. H. K. Khalil, Nonlinear Systems. 3rd Edition. Prentice-Hall, 2002.
21. M. Henle, A Combinatorial Introduction to Topology. Dover Publications, 1994.
22. E. Rimon and D. Koditschek, "Exact robot navigation using artificial potential functions, " IEEE Trans. on Robotics and Automation, vol. 8, no. 5, pp. 501-518, Oct. 1992.