Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance

Roussos, Giannis; Kyriakopoulos, Kostas J.

doi:10.1109/cdc.2010.5717088

Cited by 24 publications

(10 citation statements)

References 14 publications

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“…E-mail: jfilippidis@gmail.com, kkyria@mail.ntua.gr limited sensing range, non-holonomic systems [12] using dipolar NFs, incorporating prioritization [13] and multi-agent connectivity constraints [14], to partially known worlds by applying belt zones [15] and to unknown sphere worlds [16], as well as convex worlds using local diffeomorphisms [17]. Nonetheless, all of them involved either sphere worlds or diffeomorphisms, hence also simply connected obstacles.…”

Section: Introductionmentioning

confidence: 99%

Navigation Functions for everywhere partially sufficiently curved worlds

Filippidis

Kyriakopoulos

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-We extend Navigation Functions (NF) to worlds of more general geometry and topology. This is achieved without the need for diffeomorphisms, by direct definition in the geometrically complicated configuration space. Every obstacle boundary point should be partially sufficiently curved. This requires that at least one principal normal curvature be sufficient. A normal curvature is termed sufficient when the tangent sphere with diameter the associated curvature radius is a subset of the obstacle. Examples include ellipses with bounded eccentricity, tori, cylinders, one-sheet hyperboloids and others. Our proof establishes the existence of appropriate tuning for this purpose. Direct application to geometrically complicated cases is illustrated through nontrivial simulations.

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Section: Introductionmentioning

confidence: 99%

Navigation Functions for everywhere partially sufficiently curved worlds

Filippidis

Kyriakopoulos

2012

2012 IEEE International Conference on Robotics and Automation

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“…This requirement is relaxed in [3], [4] by defining polynomial NFs and in [5] by implementing C 2 switches for multi-agent systems with finite sensing radii.…”

Section: Introductionmentioning

confidence: 99%

Adjustable navigation functions for unknown sphere worlds

Filippidis

Kyriakopoulos

2011

IEEE Conference on Decision and Control and European Control Conference

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This paper introduces an algorithm for automatically tuning analytic navigation functions for sphere worlds. The tuning parameter must satisfy a lower bound to ensure collision avoidance and convergence. Until now analytic navigation functions have been manually tuned, although existence of a lower bound had been proved. A theoretical improvement on this lower bound is provided and the method is extended to unbounded manifolds. Then the required formulas are derived and algorithm described. So the lower bound is here evaluated in terms of sphere world centers and radii. Automated tuning enables completely unattended solution of any navigation problem in unknown sphere worlds and a priori known worlds which belong to the sphere world diffeomorphism class.

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“…al, 2008;Vidal et. al, 2004), virtual structures (Ren and Beard, 2004;Wang and Schuab, 2011), behavioral based (Balch and Arkin., 1998), artificial potential function (Roussos and Kyriakopoulos, 2010;Gerdes and Rossetter, 2001), consensus algorithm (Olfati-Saber et. Al, 2004;Olfati-Saber et.…”

Section: Introductionmentioning

confidence: 99%