Flocking Control of Groups of Mobile Autonomous Agents Via Local Feedback
Long Wang,Hong Shi,Tianguang Chu +2 more
- pp 441-446
Reads0
Chats0
TLDR
A set of coordination control laws are introduced that enable the group of mobile autonomous agents moving in Euclidean space with point mass dynamics to generate the desired stable flocking motion.Abstract:
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces. By using the control laws, all agent velocities asymptotically approach the desired velocity, collisions can be avoided between agents, and the final tight formation minimizes all agent potentials. Moreover, we prove that the velocity of the center of mass (CoM) either is equal to the desired velocity or exponentially converges to it. Finally, for the case that not all agents know the desired final velocity, we show that the desired flocking motion can still be guaranteedread more
Citations
More filters
Proceedings ArticleDOI
Multiple unmanned aerial vehicle autonomous formation via wolf packs mechanism
Haohan Chen,Haibin Duan +1 more
TL;DR: Simulation results are given to show that the UAVs can form an expected flight formation with the designed controller, and keep the formation under serious conditions of complex leader motion.
Book ChapterDOI
Flocking Motion of Mobile Agents with a Leader Based on Distance-Dependent Adjacency Matrix
Hui Yu,Jigui Jian,Yongji Wang +2 more
TL;DR: A novel procedure is presented for control and analysis of multiple autonomous agents with point mass dynamics achieving flocking motion with a time variant leader and theoretical analysis is established to indicate the stability of the control systems using classical Lyapunov theory.
Proceedings ArticleDOI
Flocking of muti-agents with obstacle avoidance based on limit-cycle
TL;DR: In this paper, a decentralized control method is used to control intelligent groups distributed and the topology model of dynamic network of intelligent groups has been combined with artificial potential field for obstacle avoidance.
Journal ArticleDOI
Flocking Control of Multiple Mobile Agents with the Rules of Avoiding Collision
TL;DR: In this article, a set of control laws using hysteresis in adding new links and applying new potential function to guarantee that the fragmentation of the network can be avoided, under which all agents approach a common velocity vector, and asymptotically converge to a fixed value of interagent distances.
Journal ArticleDOI
Fuzzy control of a class of autonomous formation constrained systems
TL;DR: This paper investigates the problem of controlling multiple mobile agents to maintain a desired geometric formation within a constrained environment by using a fuzzy-logic-based potential function and numerical simulations are illustrated to demonstrate the effectiveness and robustness of the proposed control scheme.
References
More filters
Book
Matrix Analysis
Roger A. Horn,Charles R. Johnson +1 more
TL;DR: In this article, the authors present results of both classic and recent matrix analyses using canonical forms as a unifying theme, and demonstrate their importance in a variety of applications, such as linear algebra and matrix theory.
Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
Book
Algebraic Graph Theory
Chris Godsil,Gordon F. Royle +1 more
TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.
Journal ArticleDOI
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
Related Papers (5)
Virtual Leader Approach to Coordinated Control of Multiple Mobile Agents with Asymmetric Interactions
Hong Shi,Long Wang,Tianguang Chu +2 more