A General Approach to Coordination Control of Mobile Agents With Motion Constraints

Zhao, S., Dimarogonas, D. V., Sun, Z. & Bauso, D., May-2018, In : IEEE Transactions on Automatic Control. 63, 5, p. 1509-1516 8 p.

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This paper proposes a general approach to design convergent coordination control laws for multiagent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angular velocity saturation, and other path constraints while preserving the convergence of the entire multiagent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints.

Original languageEnglish
Pages (from-to)1509-1516
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number5
Publication statusPublished - May-2018
Externally publishedYes


  • coordination control, multi-agent systems, non-holonomic constraints, obstacle avoidance, velocity saturation, SYSTEMS, SATURATION, NAVIGATION, STABILITY, CONSENSUS, ROBOTS

ID: 72165928