Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

Journal of Sensor and Actuator Networks

Marta Niccolini¹  Lorenzo Pollini² 

[1] YANMAR R&D Europe, Florence 55100, Italy; E-Mail:;Department of Information Engineering, University of Pisa, Pisa 56122, Italy; E-Mail:

关键词: cooperative control;    swarms;    distributed networks;    autonomous vehicles;   

DOI  :  10.3390/jsan3010026

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.