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  4. On Decentralized Navigation Schemes for Coordination of Multi-Agent Dynamical Systems
 
conference paper

On Decentralized Navigation Schemes for Coordination of Multi-Agent Dynamical Systems

Roozbehani, Hajir
•
Rudaz, Sylvain
•
Gillet, Denis  
2009
2009 IEEE International Conference on Systems, Man and Cybernetics
IEEE International Conference on Systems, Man and Cybernetics

Coordination of autonomous non-point agents in four-way crossings is studied in this work. A control scheme based on artificial potential functions is proposed in order to coordinate holonomic agents whose aim is to pass through an intersection while avoiding collisions. To do so, the agents are provided with a decentralized navigation function in which the goal and collision functions are decoupled. The local function defined on each agent requires no global knowledge on the desired destination of other agents. Furthermore, a reachability analysis via Lyapunov functions is proposed in order to guarantee marginal stability in our case study. In addition, conflict-free navigation and convergence properties are verified in simulation.

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Type
conference paper
DOI
10.1109/ICSMC.2009.5346068
Web of Science ID

WOS:000279574602222

Author(s)
Roozbehani, Hajir
Rudaz, Sylvain
Gillet, Denis  
Date Issued

2009

Published in
2009 IEEE International Conference on Systems, Man and Cybernetics
Start page

4807

End page

4812

Subjects

Coordination

•

Crossing

•

Autonomous

•

non-point agents

•

Potential functions

URL

URL

http://www.smc2009.org/
Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LA  
REACT  
Event nameEvent placeEvent date
IEEE International Conference on Systems, Man and Cybernetics

San Antonio, U.S.A.

October 11-14, 2009

Available on Infoscience
July 14, 2009
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/41311
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