Publisher DOI: 10.1109/ACC.2015.7170825
Title: Formation control of non-holonomic agents with collision avoidance
Language: English
Authors: Ahmadi Barogh, Siavash 
Rosero, Esteban 
Werner, Herbert 
Issue Date: Jul-2015
Source: American Control Conference, ACC: 7170825 (2015-07)
Abstract (english): 
In this paper a decentralized formation control law to achieve a desired formation and to avoid collision between agents and obstacles for non-holonomic multi-agent systems is proposed. It is assumed that each agent knows its relative position and can detect any object within the sensor range. The controllers are implemented locally on each agent. Stability conditions for achieving desired formation and for avoiding collision are provided. Simulation results to illustrate the proposed controllers are presented.
Conference: American Control Conference, ACC 2015 
URI: http://hdl.handle.net/11420/7389
ISBN: 978-147998684-2
ISSN: 0743-1619
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
Part of Series: Proceedings of the American Control Conference 
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