Coordination of Multiple Autonomous Vehicles

@inproceedings{Tanner2003CoordinationOM,
  title={Coordination of Multiple Autonomous Vehicles},
  author={Herbert G. Tanner and Ali Jadbabaie and George J. Pappas},
  year={2003}
}
We analyze the coordinated motion of a group of nonholonomic vehicles that are controlled in a distributed fashion to exhibit flocking behavior. This behavior emerges from aggregating the control actions of all group members; it is not imposed by some centralized control scheme. Each vehicle is locally controlled by a combination of a potential field force and an alignment force. The former control component ensures collision avoidance and attraction towards the group, while the latter steers… CONTINUE READING
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