J. Sens. Actuator Netw. 2014, 3(1), 26-43; doi:10.3390/jsan3010026
Article

Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

Received: 24 October 2013; in revised form: 13 December 2013 / Accepted: 17 December 2013 / Published: 2 January 2014
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: 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.
Keywords: cooperative control; swarms; distributed networks; autonomous vehicles
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MDPI and ACS Style

Niccolini, M.; Pollini, L.; Innocenti, M. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions. J. Sens. Actuator Netw. 2014, 3, 26-43.

AMA Style

Niccolini M, Pollini L, Innocenti M. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions. Journal of Sensor and Actuator Networks. 2014; 3(1):26-43.

Chicago/Turabian Style

Niccolini, Marta; Pollini, Lorenzo; Innocenti, Mario. 2014. "Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions." J. Sens. Actuator Netw. 3, no. 1: 26-43.

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