Proceedings ArticleDOI
Collective behavior with heterogeneous controllers
Anoop Jain,Debasish Ghose +1 more
- pp 4629-4634
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It is shown that, by selecting suitable controller gains, these formations can be controlled significantly to obtain not only a desired direction of motion but also a desired location of the centroid.Abstract:
In this paper, we study the collective motion of individually controlled planar particles when they are coupled through heterogeneous controller gains. Two types of collective formations, synchronization and balancing, are described and analyzed under the influence of these heterogeneous controller gains. These formations are characterized by the motion of the centroid of the group of particles. In synchronized formation, the particles and their centroid move in a common direction, while in balanced formation the movement of particles possess a fixed location of the centroid. We show that, by selecting suitable controller gains, these formations can be controlled significantly to obtain not only a desired direction of motion but also a desired location of the centroid. We present the results for N-particles in synchronized formation, while in balanced formation our analysis is confined to two and three particles.read more
Citations
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Journal ArticleDOI
Synchronization of multi-agent systems with heterogeneous controllers
Anoop Jain,Debasish Ghose +1 more
TL;DR: In this paper, the effect of heterogeneous controller gains on the common velocity direction at which the system of agents synchronizes is analyzed and conditions under which heterogeneous controllers result in a synchronized formation are derived and it is shown that the result lies in the conic hull of the initial velocity vectors of agents.
Journal ArticleDOI
Stabilization of collective formations with speed and controller gain heterogeneity and saturation
Anoop Jain,Debasish Ghose +1 more
TL;DR: This paper studies collective formations of multi-agent systems, modeled with unicycle dynamics, while admitting heterogeneity in both controller gains and speeds of the agents along with saturation on the controller outputs to address a practical scenario where the speeds are usually nonidentical and the controller gains may vary due to imperfect implementation.
Proceedings ArticleDOI
Achieving a desired collective centroid by a formation of agents moving in a controllable force field
TL;DR: 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.
Posted Content
Collective Circular Motion of Multi-Agent Systems in Synchronized and Balanced Formations With Second-Order Rotational Dynamics
Anoop Jain,Debasish Ghose +1 more
TL;DR: This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity, and presents suitable feedback control laws by considering a second-order rotational dynamics of the agent.
Posted Content
Phase Balancing of Two and Three-Agent Heterogeneous Gain Systems With Extensions to Multiple Agents.
Anoop Jain,Debasish Ghose +1 more
TL;DR: By using heterogeneity controller gains, the velocity directions of the agents in balanced formation can be controlled by using heterogeneous controller gains and the effect of heterogeneous gains on the reachable set of these velocity directions is analyzed.
References
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Collective Motion, Sensor Networks, and Ocean Sampling
Naomi Ehrich Leonard,Derek A. Paley,Francois Lekien,Rodolphe Sepulchre,David M. Fratantoni,Russ E. Davis +5 more
TL;DR: This paper addresses the design of mobile sensor networks for optimal data collection by using a performance metric, used to derive optimal paths for the network of mobile sensors, to define the optimal data set.