Coordination of multiple non-holonomic agents with input constraints

Abstract— In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained nonholonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements.

• Type: Conference
• Year: 2009
• Where: ICRA
• Authors: Apollo S. Oikonomopoulos, Savvas G. Loizou, Kostas J. Kyriakopoulos
• Keywords: Aircraft-like Kinematic Constraints, ICRA 2009, Input-constrained Nonholonomic Agents, Multi-agent Coordination Algorithm, Robotics