作者
Amit Bhatia, Emilio Frazzoli
发表日期
2008/6/11
研讨会论文
2008 American Control Conference
页码范围
1343-1349
出版商
IEEE
简介
In this paper, we consider the problem of minimum-time rendezvous of a team of Dubins vehicle at a pre-assigned destination point starting from arbitrary initial configurations. We impose an additional constraint that the separation between arrival angles of successive team members at the destination be equal. We propose a decentralized algorithm that solves the problem up to a desired level of accuracy in finite time. The communication complexity of the algorithm is quadratic and the space complexity is constant in team size. The proposed algorithm is proved to be correct by establishing some important facts for the shortest path length of a Dubins vehicle as a function of arrival angle at the destination point.
学术搜索中的文章
A Bhatia, E Frazzoli - 2008 American Control Conference, 2008