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)  

A geometric approach to dynamically feasible, real-time formation control [texte imprimé] / Maithripala, D. H. A., Auteur ; Maithripala, D. H. S., Auteur ; Suhada Jayasuriya, 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
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