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Coordinated control of multiple vehicles with discrete-time periodic communications
Almeida J.; Silvestre C.; Pascoal A.
2007-12-01
Conference Name46th IEEE Conference on Decision and Control
Source PublicationProceedings of the IEEE Conference on Decision and Control
Pages4548-4553
Conference DateDEC 12-14, 2007
Conference PlaceNew Orleans, LA
Abstract

This paper addresses the problem of coordinated path-following of networked autonomous vehicles with discrete-time periodic communications. The objective is to steer a group of autonomous vehicles along given spatial paths, while holding a desired inter-vehicle formation pattern. For a class of vehicles, we show how Lyapunov based techniques, graph theory, and results from networked systems can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed by the topology of the inter-vehicle communications network are explicitly taken into account. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information exchanged periodically on the positions of a subset of the other vehicles, as determined by the communications topology adopted. Stability and convergence of the overall system are guaranteed and a criterion for selecting the coordination gains is presented. ©2007 IEEE.

DOI10.1109/CDC.2007.4434751
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS IDWOS:000255181702143
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Citation statistics
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
AffiliationUniv Tecn Lisboa, Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal
Recommended Citation
GB/T 7714
Almeida J.,Silvestre C.,Pascoal A.. Coordinated control of multiple vehicles with discrete-time periodic communications[C],2007:4548-4553.
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