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Trudy Instituta Matematiki i Mekhaniki UrO RAN, 2014, Volume 20, Number 3, Pages 166–179
(Mi timm1092)
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This article is cited in 16 scientific papers (total in 17 papers)
On a group control problem under obstacle avoidance
A. B. Kurzhanskii Lomonosov Moscow State University
Abstract:
We consider the problem of coordinated goal-oriented target control for a group of control systems that are to realize a joint movement towards a given target set under collision avoidance. The members of the group are obliged to lie within a virtual ellipsoidal container, which performs a reference motion while also avoiding external obstacles specified in advance. We describe a general solution scheme based on decomposing the main problem into auxiliary subproblems, for which we indicate solution methods as well as the necessity of coordinating these solutions at the final stage.
Keywords:
group control, flocking, target set, ellipsoidal trajectory, reference motion, collision avoidance, obstacles, coordination.
Received: 07.07.2014
Citation:
A. B. Kurzhanskii, “On a group control problem under obstacle avoidance”, Trudy Inst. Mat. i Mekh. UrO RAN, 20, no. 3, 2014, 166–179; Proc. Steklov Inst. Math. (Suppl.), 291, suppl. 1 (2015), 128–142
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https://www.mathnet.ru/eng/timm1092 https://www.mathnet.ru/eng/timm/v20/i3/p166
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Abstract page: | 453 | Full-text PDF : | 217 | References: | 66 | First page: | 23 |
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