A Strategy for Multi-Robot Navigation - Université d'Évry Access content directly
Conference Papers Year : 2011

A Strategy for Multi-Robot Navigation


The paper addresses the problem of trajectory regulation of driftless systems such that a stabilizing control input is assumed exists. The perturbed trajectory depends on a regulation control-input which must be designed such that the system's stability is preserved and some undesirable sets belonging to navigation area must be avoided. For the stability and regulation of a multi-robot system a converging attractive set around the target is constructed and a repulsive set around obstacles is emphasized. Taking into account a communication algorithm agents-agents to agents-target, we prove that the proposed regulation control-input preserves the navigation area invariance property and the system's stability. Simulation results illustrate the effectiveness of he proposed control algorithm.
Fichier principal
Vignette du fichier
Beji06160369.pdf (169.51 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-00653812 , version 1 (16-01-2020)





Lotfi Beji, Mohamed Anouard El Kamel, Azgal Abichou. A Strategy for Multi-Robot Navigation. 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Dec 2011, Orlando, United States. pp.4214-4219, ⟨10.1109/CDC.2011.6160369⟩. ⟨hal-00653812⟩
63 View
55 Download



Gmail Facebook Twitter LinkedIn More