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Feasible Coordination of Multiple Homogeneous or Heterogeneous Mobile Vehicles with Various Constraints

Sun, Zhiyong LU ; Greiff, Marcus LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2019) 2019 IEEE International Conference on Robotics and Automation (ICRA) p.1008-1013
Abstract
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the... (More)
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed algorithm and control schemes. (Less)
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
The 2019 International Conference on Robotics and Automation (ICRA)
pages
1008 - 1013
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2019 IEEE International Conference on Robotics and Automation (ICRA)
conference location
Montreal, Canada
conference dates
2019-05-20 - 2019-05-24
external identifiers
  • scopus:85071476112
ISBN
978-1-5386-6027-0
DOI
10.1109/ICRA.2019.8793834
project
Semantic Mapping and Visual Navigation for Smart Robots
RobotLab LTH
language
English
LU publication?
yes
id
84656968-c6ae-45b3-ba58-2c936c0a0d44
date added to LUP
2019-06-19 11:19:49
date last changed
2023-04-09 17:09:55
@inproceedings{84656968-c6ae-45b3-ba58-2c936c0a0d44,
  abstract     = {{We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and various constraints. A heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. We show several application examples and simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed algorithm and control schemes.}},
  author       = {{Sun, Zhiyong and Greiff, Marcus and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{The 2019 International Conference on Robotics and Automation (ICRA)}},
  isbn         = {{978-1-5386-6027-0}},
  language     = {{eng}},
  pages        = {{1008--1013}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Feasible Coordination of Multiple Homogeneous or Heterogeneous Mobile Vehicles with Various Constraints}},
  url          = {{https://lup.lub.lu.se/search/files/66244140/ICRA2019_short_version_Final.pdf}},
  doi          = {{10.1109/ICRA.2019.8793834}},
  year         = {{2019}},
}