Feasible Coordination of Multiple Homogeneous or Heterogeneous Mobile Vehicles with Various Constraints
(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:
https://lup.lub.lu.se/record/84656968-c6ae-45b3-ba58-2c936c0a0d44
- author
- Sun, Zhiyong LU ; Greiff, Marcus LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2019
- 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}}, }