典型文献
Decentralized Control of Multiagent Navigation Systems
文献摘要：
Dear editor,
In this letter, we introduce a decentralized, nonlinear, disconti-nuous, and computationally simple control law for large scale multiagent navigation systems. The control is based on extending Gauss's principle of least constraint with a dynamic incorporation of inequality constraints, actuator saturation, and actuator dynamics. With no individual path planner, each agent executes its motion and generates its control actions by reacting solely to the evolution of its constrained dynamics, which is equivalent to solving a linear matrix equation with a dimension up to around 20 without iteration at each time instant. Numerical experiments are conducted on hundreds of two-dimensional (2-D) double integrators subjected to path and collision constraints, demonstrating the promise of the proposed method.
文献关键词：
中图分类号：
作者姓名：
Boyang Zhang;Henri P.Gavin
作者机构：
Department of Civil and Environmental Engineering,Duke University,Durham,NC 27708 USA
文献出处：
引用格式：
[1]Boyang Zhang;Henri P.Gavin-.Decentralized Control of Multiagent Navigation Systems)[J].自动化学报（英文版）,2022(05):922-925
A类：
Multiagent,disconti,nuous,multiagent,executes,integrators
B类：
Decentralized,Control,Navigation,Systems,Dear,editor,
In,this,letter,we,introduce,decentralized,nonlinear,computationally,simple,control,law,large,scale,navigation,systems,extending,Gauss,principle,least,incorporation,inequality,constraints,actuator,saturation,dynamics,With,individual,path,planner,each,its,motion,generates,actions,by,reacting,solely,evolution,constrained,which,equivalent,solving,matrix,equation,up,around,without,iteration,instant,Numerical,experiments,are,conducted,hundreds,two,dimensional,double,subjected,collision,demonstrating,promise,proposed,method
AB值：
0.649179
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