A Strategy for Multi-Robot Navigation

Lotfi Beji (1) , Mohamed Anouar El Kamel (1) , Azgal Abichou (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LIM - Laboratoire d'Ingénierie Mathématique

The paper addresses the problem of trajectory regulation of driftless systems such that a stabilizing control input is assumed exists. The perturbed trajectory depends on a regulation control-input which must be designed such that the system's stability is preserved and some undesirable sets belonging to navigation area must be avoided. For the stability and regulation of a multi-robot system a converging attractive set around the target is constructed and a repulsive set around obstacles is emphasized. Taking into account a communication algorithm agents-agents to agents-target, we prove that the proposed regulation control-input preserves the navigation area invariance property and the system's stability. Simulation results illustrate the effectiveness of he proposed control algorithm.

Domaines: Informatique [cs]

Lotfi Beji, Mohamed Anouar El Kamel, Azgal Abichou. A Strategy for Multi-Robot Navigation. 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Dec 2011, Orlando, United States. pp.4214-4219, ⟨10.1109/CDC.2011.6160369⟩. ⟨hal-00653812⟩