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A geometric approach to dynamically feasible, real-time formation control / Maithripala, D. H. A. in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 2 (Mars 2011) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 14 p. Titre : A geometric approach to dynamically feasible, real-time formation control Type de document : texte imprimé Auteurs : Maithripala, D. H. A., Auteur ; Maithripala, D. H. S., Auteur ; Jayasuriya, S., Auteur Année de publication : 2011 Article en page(s) : 14 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Geometry  Mobile  robots  Multi-agent  systems  Path  planning  Position  control  Robot  dynamics Index. décimale : 629.8 Résumé : We propose a framework for synthesizing real-time trajectories for a wide class of coordinating multi-agent systems. The class of problems considered is characterized by the ability to decompose a given formation objective into an equivalent set of lower dimensional problems. These include the so called radar deception problem and the formation control problems that fall under formation keeping and/or formation reconfiguration tasks. The decomposition makes the approach scalable, computationally economical, and decentralized. Most importantly, the designed trajectories are dynamically feasible, meaning that they maintain the formation while satisfying the nonholonomic and saturation type velocity and acceleration constraints of each individual agent. The main contributions of this paper are (i) explicit consideration of second order dynamics for agents, (ii) explicit consideration of nonholonomic and saturation type velocity and acceleration constraints, (iii) unification of a wide class of formation control problems, and (iv) development of a real-time, distributed, scalable, computationally economical motion planning algorithm. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...] [article] A geometric approach to dynamically feasible, real-time formation control [texte imprimé] / Maithripala, D. H. A., Auteur ; Maithripala, D. H. S., Auteur ; Jayasuriya, S., Auteur . - 2011 . - 14 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 14 p. Mots-clés : Geometry  Mobile  robots  Multi-agent  systems  Path  planning  Position  control  Robot  dynamics Index. décimale : 629.8 Résumé : We propose a framework for synthesizing real-time trajectories for a wide class of coordinating multi-agent systems. The class of problems considered is characterized by the ability to decompose a given formation objective into an equivalent set of lower dimensional problems. These include the so called radar deception problem and the formation control problems that fall under formation keeping and/or formation reconfiguration tasks. The decomposition makes the approach scalable, computationally economical, and decentralized. Most importantly, the designed trajectories are dynamically feasible, meaning that they maintain the formation while satisfying the nonholonomic and saturation type velocity and acceleration constraints of each individual agent. The main contributions of this paper are (i) explicit consideration of second order dynamics for agents, (ii) explicit consideration of nonholonomic and saturation type velocity and acceleration constraints, (iii) unification of a wide class of formation control problems, and (iv) development of a real-time, distributed, scalable, computationally economical motion planning algorithm. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...]