Proceedings ArticleDOI
Formation control of robot swarm with implicit leaders
J. Cai,Yuhong Shi,Lijuan Cai +2 more
- Vol. 12451, pp 124515C-124515C
TLDR
By "implicitly" integrating the leaders into the swarm, the proposed algorithm can not only guarantee a swarm of robots to move along predefined formation and track scheduled trajectory with certain velocity, dynamic leader reassignment is also realized, thus enhancing the adaptability and expansibility of the swarm.Abstract:
This paper mainly studies the motion consensus and formation control of robot swarm, and designs a new formation control and trajectory tracking algorithm based on artificial potential field method and implicit leaders. The algorithm can control the swarm to approach the desired formation and realize collision avoidance between robots. By "implicitly" integrating the leaders into the swarm, the proposed algorithm can not only guarantee a swarm of robots to move along predefined formation and track scheduled trajectory with certain velocity, dynamic leader reassignment is also realized, thus enhancing the adaptability and expansibility of the swarm. Numerical simulation results verify the correctness of the theoretical analysis and the effectiveness of the algorithm.read more
Citations
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Proceedings ArticleDOI
Distributed Optimal Output Synchronization of Heterogeneous Multi-agent System with Input Delays
TL;DR: In this article , the problem of distributed optimal output synchronization for HMASs with input delays was studied and solved by adopting the idea of discreting and transforming the model, and a continuous-time system with input delay was converted into a discrete-time HMAS without delay of input.
Distributed Optimal Output Synchronization of Heterogeneous Multi-agent System with Input Delays
Yongkang Chen,Hua Zhang,Wei Zhao +2 more
TL;DR: In this paper , the problem of distributed optimal output synchronization for HMASs with input delays was studied and solved by adopting the idea of discreting and transforming the model, and a continuous-time system with input delay was converted into a discrete-time HMAS without delay of input.
References
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Automatic Leader–Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies
Dengxiu Yu,C. L. Philip Chen +1 more
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Distributed Leader–Follower Affine Formation Maneuver Control for High-Order Multiagent Systems
TL;DR: To steer a group of agents to maneuver with the desired collective forms, this article studies the affine formation maneuver control of high-order multiagent systems using a two-layered leader-follower strategy, in which agents are divided into three types: first leader, second leader group, and followers.
Posted Content
Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version).
TL;DR: It is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes, which is likely to happen in conventional distance-based formation control methods.