  We consider the problem of feasible coordination control for multiple
homogeneous or heterogeneous mobile vehicles subject to various constraints
(nonholonomic motion constraints, holonomic coordination constraints,
equality/inequality constraints etc). We develop a general framework involving
differential-algebraic equations and viability theory to describe and determine
coordination feasibility for a coordinated motion control under heterogeneous
vehicle dynamics and different types of coordination constraints. If a solution
exists for the derived differential-algebraic equations and/or inequalities, a
heuristic algorithm is proposed for generating feasible trajectories for each
individual vehicle. In case studies on coordinating two vehicles, we derive
analytical solutions to motion generation for two-vehicle groups consisting of
car-like vehicles, unicycle vehicles, or vehicles with constant speeds, which
serve as benchmark coordination tasks for more complex vehicle groups. We show
several simulation experiments on multi-vehicle coordination under various
constraints to validate the theory and the effectiveness of the proposed
schemes.

Systems and Control