Project title: Cooperative Control of Nonholonomic Mobile Agents
Joonho Lee

Abstract
In this paper, we present the cooperative control of agents with nonholonomic dynamics. Cooperative control of the multi-agent system consists of swarming and gradient ascent efforts to trace the maximum of the field of interest. Artificial potential fields are designed to enforce swarming behaviors. Each agent can measure the value and its gradient of the field at its position and communicate with flockmates to share information. The convergence properties of the nonholonomic multi-agent system are analyzed. The actuator saturation constraints will be considered. The simulation study validate the proposed theory.

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