LbCS navigation controllers of Twining Lagrangian swarm individuals

Chand, Ronal P. and Kumar, Sandeep A. and Chand, Ravinesh (2021) LbCS navigation controllers of Twining Lagrangian swarm individuals. [Conference Proceedings]

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Abstract

This paper presents stabilizing velocity controllers for the individuals of two Lagrangian swarms, which navigates from their initial configuration space to their final configuration space, ensuring intra and inter swarm individual collision avoidance. The motion of the individuals is based on Reynold's rules of separation, alignment, and cohesion. Using the three pillars (safety, shortest and smoothest path) of Lyapunov based control scheme (LbCS), the velocity controllers of the individuals of the two swarms are derived from multiple Lyapunov functions. The effectiveness of the controllers is validated through computer simulations.

Item Type:	Conference Proceedings
Subjects:	Q Science > QA Mathematics Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions:	School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User:	Ms Shalni Sanjana
Date Deposited:	08 Feb 2022 03:20
Last Modified:	08 Feb 2022 03:20
URI:	http://repository.usp.ac.fj/id/eprint/13225

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