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Coordinated control of multiple vehicles with discrete-time periodic communications
Joao Almeida; Carlos Silvestre; Antonio Pascoal
2008-01-21
Conference Name2007 46th IEEE Conference on Decision and Control
Source PublicationProceedings of the 46th IEEE Conference on Decision and Control
Pages4548-4553
Conference DateDEC 12-14, 2007
Conference PlaceNew Orleans, LA
CountryUSA
PublisherIEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
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. 

DOI10.1109/CDC.2007.4434751
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS IDWOS:000255181702143
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorJoao Almeida
AffiliationInstitute for System and Robotics, Instituto Superior Tecnico, Av. Rovisco Pais, 1049-001 Lisboa, Portugal
Recommended Citation
GB/T 7714
Joao Almeida,Carlos Silvestre,Antonio Pascoal. Coordinated control of multiple vehicles with discrete-time periodic communications[C]:IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA,2008:4548-4553.
APA Joao Almeida,Carlos Silvestre,&Antonio Pascoal.(2008).Coordinated control of multiple vehicles with discrete-time periodic communications.Proceedings of the 46th IEEE Conference on Decision and Control,4548-4553.
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