Decentralized Motion Control of Multiple Agents with Double Integrator Dynamics

Authors:	Dimarogonas Dimos, National Technical University of Athens, Greece Kyriakopoulos Kostas J., National Technical University of Athens, Greece
Topic:	7.5 Intelligent Autonomous Vehicles
Session:	Multiple Vehicles I
Keywords:	Autonomous Agents, Decentralized Control, Motion Control

Abstract

The decentralized navigation function methodology, established inprevious work for navigation of a multi-agent system with singleintegrator dynamics is extended to the case of double integrator.The main motivation of this work lies in the fact thatacceleration control is more implementable in multiple vehiclesystems than velocity control. Each agent plans its actionswithout knowing the destinations of the others. The stability ofthe overall system is guaranteed by LaSalle's InvariancePrinciple. The collision avoidance and global convergenceproperties are verified through simulations.