Robust semi-cooperative multi-agent coordination in the presence of stochastic disturbances.

Kunal Garg Dongkun Han Dimitra Panagou

CDC

@inproceedings{DBLP:conf/cdc/GargHP17,
  author       = {Kunal Garg and
                  Dongkun Han and
                  Dimitra Panagou},
  title        = {Robust semi-cooperative multi-agent coordination in the presence of
                  stochastic disturbances},
  booktitle    = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017,
                  Melbourne, Australia, December 12-15, 2017},
  pages        = {3443--3448},
  publisher    = {{IEEE}},
  year         = {2017},
  url          = {https://doi.org/10.1109/CDC.2017.8264163},
  doi          = {10.1109/CDC.2017.8264163},
  timestamp    = {Fri, 04 Mar 2022 13:29:55 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/GargHP17.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

Abstract

This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on semi-cooperative coordination and we redesign the coordination controllers so that the agents counteract a class of state (wind) disturbances and measurement noise. Safety and convergence is proved analytically, while simulation results demonstrate the efficacy of the proposed solution.

Authors

Dimitra Panagou

link /

Bib

@inproceedings{DBLP:conf/cdc/GargHP17,
  author       = {Kunal Garg and
                  Dongkun Han and
                  Dimitra Panagou},
  title        = {Robust semi-cooperative multi-agent coordination in the presence of
                  stochastic disturbances},
  booktitle    = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017,
                  Melbourne, Australia, December 12-15, 2017},
  pages        = {3443--3448},
  publisher    = {{IEEE}},
  year         = {2017},
  url          = {https://doi.org/10.1109/CDC.2017.8264163},
  doi          = {10.1109/CDC.2017.8264163},
  timestamp    = {Fri, 04 Mar 2022 13:29:55 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/GargHP17.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}