Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions
The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the singl...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2014-01-01
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| Series: | Journal of Sensor and Actuator Networks |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2224-2708/3/1/26 |
| _version_ | 1818496153621102592 |
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| author | Marta Niccolini Lorenzo Pollini Mario Innocenti |
| author_facet | Marta Niccolini Lorenzo Pollini Mario Innocenti |
| author_sort | Marta Niccolini |
| collection | DOAJ |
| description | The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios. |
| first_indexed | 2024-12-10T18:29:41Z |
| format | Article |
| id | doaj.art-b5d654ab5bcf453ea25591f5a3de8143 |
| institution | Directory Open Access Journal |
| issn | 2224-2708 |
| language | English |
| last_indexed | 2024-12-10T18:29:41Z |
| publishDate | 2014-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Sensor and Actuator Networks |
| spelling | doaj.art-b5d654ab5bcf453ea25591f5a3de81432022-12-22T01:37:59ZengMDPI AGJournal of Sensor and Actuator Networks2224-27082014-01-0131264310.3390/jsan3010026jsan3010026Cooperative Control for Multiple Autonomous Vehicles Using Descriptor FunctionsMarta Niccolini0Lorenzo Pollini1Mario Innocenti2YANMAR R&D Europe, Florence 55100, ItalyDepartment of Information Engineering, University of Pisa, Pisa 56122, ItalyDepartment of Information Engineering, University of Pisa, Pisa 56122, ItalyThe paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios.http://www.mdpi.com/2224-2708/3/1/26cooperative controlswarmsdistributed networksautonomous vehicles |
| spellingShingle | Marta Niccolini Lorenzo Pollini Mario Innocenti Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions Journal of Sensor and Actuator Networks cooperative control swarms distributed networks autonomous vehicles |
| title | Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions |
| title_full | Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions |
| title_fullStr | Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions |
| title_full_unstemmed | Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions |
| title_short | Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions |
| title_sort | cooperative control for multiple autonomous vehicles using descriptor functions |
| topic | cooperative control swarms distributed networks autonomous vehicles |
| url | http://www.mdpi.com/2224-2708/3/1/26 |
| work_keys_str_mv | AT martaniccolini cooperativecontrolformultipleautonomousvehiclesusingdescriptorfunctions AT lorenzopollini cooperativecontrolformultipleautonomousvehiclesusingdescriptorfunctions AT marioinnocenti cooperativecontrolformultipleautonomousvehiclesusingdescriptorfunctions |