Decentralized constructive collision avoidance for Multi-Agent dynamical systems
| Autor: | Sorin Olaru, C. Stoica Maniu, Minh Tri Nguyen |
|---|---|
| Přispěvatelé: | Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Dynamical Interconnected Systems in COmplex Environments (DISCO), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Sud - Paris 11 (UP11), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire des signaux et systèmes (L2S), Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Sud - Paris 11 (UP11)-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Sud - Paris 11 (UP11) |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0301 basic medicine
0209 industrial biotechnology Engineering Mathematical optimization Dynamical systems theory business.industry Feedback control 02 engineering and technology Certification Invariant (physics) Constructive Working space [SPI.AUTO]Engineering Sciences [physics]/Automatic 03 medical and health sciences 030104 developmental biology 020901 industrial engineering & automation Control theory business |
| Zdroj: | 15th European Control Conference (ECC 2016) 15th European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.1526-1531, ⟨10.1109/ecc.2016.7810507⟩ ECC 15th European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.1526-1531, ⟨10.1109/ecc.2016.7810507 ⟩ |
| Popis: | International audience; This paper describes the principles of a decentralized framework for the guaranteed collision avoidance of Multi-Agent dynamical systems sharing a common working space. The results are constructive and can be effective in the certification of mission safety. The geometric aspects of the collision avoidance problem are exploited to define the control policies. The main contributions are related to the optimization-based decentralized feedback control which renders a so-called functioning zone controlled invariant. An illustrative example is analyzed in order to highlight the effectiveness of the proposed approaches. |
| Databáze: | OpenAIRE |
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