Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

Marta Niccolini, Lorenzo Pollini, Mario Innocenti
2014 Journal of Sensor and Actuator Networks  
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
more » ... h models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios.
doi:10.3390/jsan3010026 fatcat:eiouio6hdzddlhiczoayshir34