Journal ArticleDOI
Flocking of multi-agent systems with a dynamic virtual leader
Hong Shi,Long Wang,Tianguang Chu +2 more
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This paper considers the flocking problem of a group of autonomous agents moving in Euclidean space with a virtual leader and introduces a set of switching control laws that enable the entire group to generate the desired stable flocking motion.Abstract:
This paper considers the flocking problem of a group of autonomous agents moving in Euclidean space with a virtual leader. We investigate the dynamic properties of the group for the case where the state of the virtual leader may be time-varying and the topology of the neighbouring relations between agents is dynamic. To track such a leader, we introduce a set of switching control laws that enable the entire group to generate the desired stable flocking motion. The control law acting on each agent relies on the state information of its neighbouring agents and the external reference signal (or ‘virtual leader’). Then we prove that, if the acceleration of the virtual leader is known, then each agent can follow the virtual leader, and the convergence rate of the centre of mass (CoM) can be estimated; if the acceleration is unknown, then the velocities of all agents asymptotically approach the velocity of the CoM, thus the flocking motion can be obtained. However, in this case, the final velocity of the group ...read more
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Journal ArticleDOI
An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
TL;DR: In this article, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006 and proposed several promising research directions along with some open problems that are deemed important for further investigations.
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An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
TL;DR: In this paper, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Journal ArticleDOI
Distributed Coordinated Tracking With Reduced Interaction via a Variable Structure Approach
Yongcan Cao,Wei Ren +1 more
TL;DR: A distributed coordinated tracking problem is solved via a variable structure approach when there exists a dynamic virtual leader who is a neighbor of only a subset of a group of followers, all followers have only local interaction, and only partial measurements of the states of the virtual leader and the followers are available.
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
Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory
TL;DR: A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem with rigorous proofs provided by using graph, matrix, and Lyapunov theories.
References
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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.
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Optimization and nonsmooth analysis
TL;DR: The Calculus of Variations as discussed by the authors is a generalization of the calculus of variations, which is used in many aspects of analysis, such as generalized gradient descent and optimal control.
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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.
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