Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges
This paper contributes a design of cooperative controllers that force N mobile agents with an ellipsoidal shape and a limited sensing range to track desired trajectories and to avoid collision between them. A separation condition for ellipsoidal agents is first derived. Smooth step functions are the...
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| Format: | Journal Article |
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Elsevier BV, North-Holland
2012
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| Online Access: | http://hdl.handle.net/20.500.11937/7233 |
| _version_ | 1848745310359126016 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper contributes a design of cooperative controllers that force N mobile agents with an ellipsoidal shape and a limited sensing range to track desired trajectories and to avoid collision between them. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation condition between the ellipsoidal agents are embedded in novel pairwise collision avoidance functions to design coordination controllers. The proposed control design guarantees (1) smooth coordination controllers despite the agents’ limited sensing ranges, (2) no collision between any agents, (3) asymptotical stability of desired equilibrium set, and (4) instability of all other undesired critical sets of the closed loop system. |
| first_indexed | 2025-11-14T06:15:20Z |
| format | Journal Article |
| id | curtin-20.500.11937-7233 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T06:15:20Z |
| publishDate | 2012 |
| publisher | Elsevier BV, North-Holland |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-72332019-02-19T04:25:52Z Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges Do, Khac Duc Potential functions Collision avoidance Coordination control Ellipsoidal agents This paper contributes a design of cooperative controllers that force N mobile agents with an ellipsoidal shape and a limited sensing range to track desired trajectories and to avoid collision between them. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation condition between the ellipsoidal agents are embedded in novel pairwise collision avoidance functions to design coordination controllers. The proposed control design guarantees (1) smooth coordination controllers despite the agents’ limited sensing ranges, (2) no collision between any agents, (3) asymptotical stability of desired equilibrium set, and (4) instability of all other undesired critical sets of the closed loop system. 2012 Journal Article http://hdl.handle.net/20.500.11937/7233 10.1016/j.sysconle.2011.10.018 Elsevier BV, North-Holland fulltext |
| spellingShingle | Potential functions Collision avoidance Coordination control Ellipsoidal agents Do, Khac Duc Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges |
| title | Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges |
| title_full | Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges |
| title_fullStr | Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges |
| title_full_unstemmed | Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges |
| title_short | Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges |
| title_sort | coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges |
| topic | Potential functions Collision avoidance Coordination control Ellipsoidal agents |
| url | http://hdl.handle.net/20.500.11937/7233 |