Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions
Abstract
:1. Introduction
2. Literature Review
2.1. Behavioral Approaches
2.2. Consensus Protocols
2.3. Coverage and Connectivity
2.4. Abstractions and Models
3. The Descriptor Function Framework
4. The Swarm Control Law
4.1. Gradient-Based Control
4.2. Potential Field-Based Control
4.3. Combined (Switching) Control Law
5. Case Study: Target Assignment
5.1. Example 1
5.2. Example 2
6. Conclusions
Acknowledgments
Conflicts of Interest
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Niccolini, M.; Pollini, L.; Innocenti, M. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions. J. Sens. Actuator Netw. 2014, 3, 26-43. https://doi.org/10.3390/jsan3010026
Niccolini M, Pollini L, Innocenti M. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions. Journal of Sensor and Actuator Networks. 2014; 3(1):26-43. https://doi.org/10.3390/jsan3010026
Chicago/Turabian StyleNiccolini, Marta, Lorenzo Pollini, and Mario Innocenti. 2014. "Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions" Journal of Sensor and Actuator Networks 3, no. 1: 26-43. https://doi.org/10.3390/jsan3010026