Decentralized Motion Control of Multiple Mobile Agents
Michael M. Zavlanos, Kostas J. Kyriakopoulos · DSpace - NTUA (National Technical University of Athens) · 2003
Abstract: Our navigation function methodology, established for centralized multiple robot navigation, is extended for decentralized,navigation. The notion of interconnected systems is used to modelthe whole system, and asymptotic stability is guaranteed. The collision,avoidance, and ,global ,convergence properties are verified through,simulations.