Giannis P. Roussos

Learn More
SUMMARY This paper extends the Navigation Function methodology to the case of 3D nonholonomic vehicles, both in single agent and multi-agent problems. The kinematic, nonholonomic, 3-dimensional model considered is chosen to resemble the motion of an aircraft by preventing any movement along the lateral or perpendicular axis, as well as preventing high yaw(More)
This paper expands the methodology of Navigation Functions for the control of a spherical aircraft-like 3dimensional nonholonomic vehicle. A Dipolar Navigation Function is used to generate a feasible, non-holonomic trajectory for the vehicle that leads from an arbitrary position to the target, in combination with a discontinuous feedback control law that(More)
— We present a novel control scheme for multiple non-holonomic vehicles under uncertainty, which can guarantee collision avoidance while complying with constraints imposed on the vehicles. Dipolar Navigation Functions are used for decentralized conflict-free control, while Model Predictive Control is used in a centralized manner in order to ensure that the(More)
— We propose an algorithm for decentralised navigation of multiple independent agents, applicable to Robotics and Air Traffic Control (ATC). We present completely decentralised Navigation Functions that are used to build potential fields and consequently feedback control laws. Our approach employs local sensing, limited by a maximum sensing range and(More)
— This paper builds upon previous work of the authors to present a methodology for the decentralized control of multiple 3-dimensional nonholonomic vehicles, utilizing Navigation Functions. The kinematic, non-holonomic, 3-dimensional model considered is chosen to resemble the motion of an aircraft by preventing any movement along the lateral or(More)
We present an algorithm for decentralised navigation of multiple mobile robots. Completely decentralised Navigation functions build a potential field for each robot that is employed in a feedback control law. The potential field incorporates limited sensing and explicit prioritisation. A non-circular sensing area creates asymmetrical sensing by reducing the(More)
— We develop the framework of decentralised Navigation Functions for the case of multiple agents of arbitrary shapes and sensing areas around them moving in N-dimensional space. Unlike previous approaches utilising the Navigation Functions methodology, the construction here does not rely on diffeomorphisms , thus reducing the computational cost of the(More)
  • 1