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http://dx.doi.org/10.5302/J.ICROS.2016.16.0083

Decentralized Control of Multiple Agents for Optimizing Target Tracking Performance and Collision Avoidance  

Kim, Youngjoo (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
Bang, Hyochoong (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.9, 2016 , pp. 693-698 More about this Journal
Abstract
A decentralized control method is proposed to enable a group of robots to achieve maximum performance in multisensory target tracking while avoiding collision with the target. The decentralized control was designed based on navigation function formalism. The study showed that the multiple agent system converged to the positions providing the maximum performance by the decentralized controller, based on Lyapunov and Hessian theory. An exemplary simulation was given for a multiple agent system tracking a stationary target.
Keywords
decentralized control; multisensory target tracking; navigation function; convergence analysis;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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