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
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
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Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds
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Control of Many Agents Using Few Instructions
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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.
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Proceedings ArticleDOI
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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.
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