@inproceedings{52727d28146f49dfb8b26f7c52fb44d1,
title = "Obstacle avoidance for multi-agent systems based on stream function and hierarchical associations",
abstract = "This paper deals with the problem of obstacle avoidance for multi-agent systems. A novel framework is presented which combines the stream function with the artificial potential field. The introduction of stream function makes obstacle avoidance smoother while interactive potential guarantees stability of the system. A dynamic structure with visibility constraint and hierarchical associations is further explored to improve the performance. Finally, results of simulation as well as experiment on Pioneer3 robots verify the validity of the proposed method.",
keywords = "hierarchical associations, multi-agent, obstacle avoidance, stream function",
author = "Yongqiang Bai and Wenzhi Xiao and Ha Fang and Jixiang Li and Jing Cui",
year = "2012",
language = "English",
isbn = "9789881563811",
series = "Chinese Control Conference, CCC",
pages = "6363--6367",
booktitle = "Proceedings of the 31st Chinese Control Conference, CCC 2012",
note = "31st Chinese Control Conference, CCC 2012 ; Conference date: 25-07-2012 Through 27-07-2012",
}