2010/11/28 by Fabio Morbidi, Francesco Bullo, Morbidi, Fabio +3
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Optimization and Search Problems #Robotic Path Planning Algorithms #Traffic control and management
paper · pdf · doi:10.48550/arxiv.1011.6127
openalex publication_date 2010/11/28 · openalex created_date 2022/10/04 · openalex updated_date 2026/07/28
The paper studies the visibility maintenance problem (VMP) for a\nleader-follower pair of Dubins-like vehicles with input constraints, and\nproposes an original solution based on the notion of controlled invariance. The\nnonlinear model describing the relative dynamics of the vehicles is interpreted\nas linear uncertain system, with the leader robot acting as an external\ndisturbance. The VMP is then reformulated as a linear constrained regulation\nproblem with additive disturbances (DLCRP). Positive D-invariance conditions\nfor linear uncertain systems with parametric disturbance matrix are introduced\nand used to solve the VMP when box bounds on the state, control input and\ndisturbance are considered. The proposed design procedure is shown to be easily\nadaptable to more general working scenarios. Extensive simulation results are\nprovided to illustrate the theory and show the effectiveness of our approach\n