A Flexible approach to multi-agent coordination with motion constraints 🗓 🗺
prof. Shiyu Zhao Autonomous
Systems and Robotics Group Department of Automatic Control and Systems Engineering University of Sheffield
Abstract
This seminar introduces a general approach to design convergent coordination control laws for multi-agent systems subject to motion constraints. The main novelty of this approach is to prove in a constructive way that if a distributed gradient coordination control law designed for single integrators is convergent, then it can be readily modified to adapt for various motion constraints including nonholonomic, linear/angular velocity saturation, and other path constraints while the convergence of the multi-agent system is preserved. This approach is applicable to a wide range of coordination control tasks in two- and three-dimensional spaces. Such a result sheds light on the practical usefulness of many existing gradient coordination control laws designed for single integrators and provides a better understanding that the design of coordination control laws may be separated from the consideration of local motion constraints of each agent.
