Journal ArticleDOI
Flocking in multi‐agent systems with multiple virtual leaders
TLDR
In this article, the authors investigate the problem of controlling a group of mobile autonomous agents to track multiple virtual leaders with varying velocities in the sense that agents with the same virtual leader attain the same velocity and track the corresponding leader.Abstract:
Many tracking problems in flocking are related to a single (virtual) leader with a constant velocity. In this paper, we investigate the problem of controlling a group of mobile autonomous agents to track multiple virtual leaders with varying velocities in the sense that agents with the same virtual leader attain the same velocity and track the corresponding leader. We propose a provably-stable flocking algorithm. Moreover, we show that the position and velocity of the center of the mass of all agents will exponentially converge to weighted average position and velocity of the virtual leaders. Numerical simulations are worked out to illustrate theoretical results. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Societyread more
Citations
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Journal ArticleDOI
Brief paper: Adaptive second-order consensus of networked mobile agents with nonlinear dynamics
TL;DR: Under the assumption that the initial network is connected, this work introduces local adaptation strategies for both the weights on the velocity navigational feedback and the velocity coupling strengths that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics.
Journal ArticleDOI
Consensus of multi-agent systems with nonlinear dynamics and sampled-data information: a delayed-input approach
TL;DR: Theoretical analysis on this time-delayed system shows that consensus with asymptotic time-varying velocities in a strongly connected network can be achieved over some suitable sampled-data intervals.
Journal ArticleDOI
Leader-following consensus problem with a varying-velocity leader and time-varying delays
TL;DR: In this article, a leader-following consensus problem for a multi-agent system with a varying-velocity leader and time-varying delays is studied, where the interaction graph among the followers is switching and balanced.
Journal ArticleDOI
Rendezvous of multiple mobile agents with preserved network connectivity
TL;DR: A rendezvous protocol with double-integrator dynamics is proposed, which can enable the group of mobile agents to converge to the same position and move with the same velocity while preserving the connectivity of the whole network during the evolution if the initial network is connected.
Journal ArticleDOI
Semiglobal Observer-Based Leader-Following Consensus With Input Saturation
TL;DR: Under the assumptions that the networks are connected or jointly connected and that each agent is asymptotically null controllable with bounded controls and detectable, semiglobal observer-based leader-following consensus of the multiagent system can be reached on switching networks.
References
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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.
Proceedings ArticleDOI
Flocks, herds and schools: A distributed behavioral model
TL;DR: In this article, an approach based on simulation as an alternative to scripting the paths of each bird individually is explored, with the simulated birds being the particles and the aggregate motion of the simulated flock is created by a distributed behavioral model much like that at work in a natural flock; the birds choose their own course.
Journal ArticleDOI
Novel Type of Phase Transition in a System of Self-Driven Particles
TL;DR: Numerical evidence is presented that this model results in a kinetic phase transition from no transport to finite net transport through spontaneous symmetry breaking of the rotational symmetry.