Coordinated motion of autonomous vehicles with the use of a distributed gradient algorithm

Distributed stochastic search is proposed for cooperative behavior in multi-robot systems. Distributed gradient is examined. This method consists of multiple stochastic search algorithms that start from different points in the solutions space and interact to each other while moving towards the goal...

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Vydané v:Applied mathematics and computation Ročník 199; číslo 2; s. 494 - 503
Hlavný autor: Rigatos, Gerasimos G.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York, NY Elsevier Inc 01.06.2008
Elsevier
Predmet:
Cooperative behavior
Distributed gradient
Exact sciences and technology
Global analysis, analysis on manifolds
Lyapunov stability
Mathematical analysis
Mathematics
Multi-robot system
Numerical analysis
Numerical analysis. Scientific computation
Ordinary differential equations
Sciences and techniques of general use
Stochastic search algorithms
Topology. Manifolds and cell complexes. Global analysis and analysis on manifolds
Lyapunov stability
Distributed gradient
Cooperative behavior
Multi-robot system
Stochastic search algorithms
Stochastic method
Search algorithm
Numerical analysis
Algorithm performance
Applied mathematics
Distributed algorithm
Cost function
Robot
ISSN:0096-3003, 1873-5649
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Popis
Shrnutí:Distributed stochastic search is proposed for cooperative behavior in multi-robot systems. Distributed gradient is examined. This method consists of multiple stochastic search algorithms that start from different points in the solutions space and interact to each other while moving towards the goal position. Distributed gradient is shown to be efficient when the motion of the robots towards the goal position is described by a quadratic cost function. The algorithm’s performance is evaluated through simulation tests.
ISSN:0096-3003
1873-5649
DOI:10.1016/j.amc.2007.10.003