Lyapunov-based control for a swarm of planar nonholonomic vehicles

DOI10.1007/S11786-015-0243-ZMaRDI QIDQ904538zbMATH OpenOpenAlexFDO

Authors Sandeep Ameet Kumar, Jito Vanualailai, Bibhya Sharma

Publication date 13 January 2016

Published in Mathematics in Computer Science (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11786-015-0243-z

zbMATH Keywords

swarm intelligenceLyapunov functioncollision avoidanceLyapunov stabilitynonholonomic mobile robotscontrol of multiple robotsLagrangian swarm model

Mathematics Subject Classification ID

Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• scientific article; zbMATH DE number 764544 (Why is no real title available?)
• scientific article; zbMATH DE number 5230322 (Why is no real title available?)
• A Graph Theoretic Approach for Modeling Mobile Robot Team Formations
• A non-local model for a swarm
• Complex adaptive systems: Exploring the known, the unknown and the unknowable
• Diffusion and ecological problems: Modern perspectives.
• Distributed control of robotic networks: a mathematical approach to motion coordination algorithms.
• Formation types of multiple steerable 1-trailer mobile robots via split-rejoin maneuvers
• Mutual interactions, potentials, and individual distance in a social aggregation
• Stabilization of non-holonomic vehicles under kinematic constraints
• Tunnel passing maneuvers of prescribed formations

Cited in

(9)

• Formation control of a swarm of mobile manipulators
• Nonholonomic mobile swarm robots hunting in unknown dynamic environments
• Control of antagonistic swarm dynamics via Lyapunov's method
• A Lyapunov treatment of swarm coordination under conflict
• Distributed control for complex missions: Quasi‐linear parameter varying approach
• Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following
• Adaptive fuzzy formation control for a swarm of nonholonomic differentially driven vehicles. An \(\mathcal H^{\infty}\)-based robus control design
• Swarm herding using a region holding sliding mode controller
• Dynamic coordinated control laws in multiple agent models

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