Proceedings ArticleDOI
Achieving a desired collective centroid by a formation of agents moving in a controllable force field
Anoop Jain,Debasish Ghose,Prathyush P. Menon +2 more
- pp 182-187
Reads0
Chats0
TLDR
In this article, an all-to-all coupled planar motion model is proposed to solve the problem of a formation of agents trying to achieve a desired stationary or moving collective centroid.Abstract:
In this paper, we study the problem of a formation of agents trying to achieve a desired stationary or moving collective centroid. The agents are assumed to be moving in a force field which is controlled externally. The stabilization of the collective centroid to a fixed desired location results in a balanced formation of the agents about that point. Similarly, the centroid of the system of agents may be required to move along a certain given trajectory. For this, the centroid of the formation must converge to the desired trajectory. To solve this problem, we propose an all-to-all coupled planar motion model that explicitly incorporates an additional control pertaining to the external force field. Simulation results are presented to support the theoretical findings.read more
Citations
More filters
Journal ArticleDOI
Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds
TL;DR: This paper proposes a combined controller to stabilize a formation shape and synchronize the heading of each agent simultaneously and considers several different formation design approaches based on different formation specifications under different interaction graphs.
Control of Many Agents Using Few Instructions
TL;DR: This paper considers the problem of controlling a group of agents under the constraint that every agent must be given the same control input, relevant for the control of mobile micro-robots that all receive the same power and control signals through an underlying substrate.
Proceedings Article
Moving Agents in Formation in Congested Environments
TL;DR: This paper develops a two-phase search algorithm, called SWARM-MAPF, whose first phase is inspired by swarm-based algorithms (in open regions) and whose second phase isinspired by multi-agent path-finding (MAPF) algorithms ( in congested regions).
Journal ArticleDOI
Robust stabilization of balanced and splay formations with heterogeneous controller gains
TL;DR: This paper analyses collective motion of multi-vehicle systems in balanced or splay formation when the vehicles are equipped with heterogeneous controller gains and proposes strategies to achieve such balanced and splay formations about a desired centroid location while allowing the vehicles to move either along straight line paths or on individual circular orbits.
Proceedings ArticleDOI
A heterogeneous control gain approach to achieve a desired collective centroid by a formation of agents
Anoop Jain,Debasish Ghose +1 more
TL;DR: This paper proposes a heterogeneous gains based controller design methodology to stabilize a particular type of collective motion in a multi-agent system where the heading angles of the agents are in balanced formation and derives feedback control laws that operate with heterogeneous control gains.
References
More filters
Journal ArticleDOI
An untethered, electrostatic, globally controllable MEMS micro-robot
TL;DR: In this article, an untethered, electrostatic, MEMS micro-robot, with dimensions of 60 /spl µ/m by 250 /spl mu/m and 10 /spl μ/m, is presented.
Journal ArticleDOI
Oscillator Models and Collective Motion
TL;DR: PCOD as discussed by the authors is a cooperative control framework for stabilizing relative equilibria in a model of self-propelled, steered particles moving in the plane at unit speed, which is applicable to time-invariant and undirected interaction.
Collective motion and oscillator synchronization
TL;DR: Study of connections between phase models of coupled oscil-lators and kinematic models of groups of self-propelled particles finds connections are exploited in the analysis and design of feedback control laws for the individuals that stabilize collective motions for the group.
Journal ArticleDOI
Control of Multiple Heterogeneous Magnetic Microrobots in Two Dimensions on Nonspecialized Surfaces
TL;DR: Methods to control multiple untethered magnetic microrobots (called Mag-μBots), with all dimensions under 1 mm, without the need for a specialized surface are proposed, which has potential applications in areas such as microfluidic systems and biomanipulation.
Journal ArticleDOI
Electrokinetic and optical control of bacterial microrobots
Edward B. Steager,Mahmut Selman Sakar,Dal Hyung Kim,Vijay Kumar,George J. Pappas,Min Jun Kim +5 more
TL;DR: This work takes a step toward in vitro mechanical or chemical manipulation of cells as well as controlled assembly of microcomponents in microbiorobots.
Related Papers (5)
Virtual Leader Approach to Coordinated Control of Multiple Mobile Agents with Asymmetric Interactions
Hong Shi,Long Wang,Tianguang Chu +2 more