Scaling the size of a formation using relative position feedback

We consider a multiagent coordination problem where the objective is to steer a team of mobile agents into a formation of variable size. We assume the shape description of the formation is known to all agents, but the desired size scaling of the formation is known only to a subset of agents. We pres...

Full description

Saved in:
Bibliographic Details
Published in:Automatica (Oxford) 2012-10, Vol.48 (10), p.2677-2685
Main Authors: Coogan, Samuel, Arcak, Murat
Format: Article
Language:English
Subjects:
Adaptative systems
Applied sciences
Autonomous mobile robots
Computer science
control theory
systems
Control theory. Systems
Cooperative control
Exact sciences and technology
Formation control
Robotics
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We consider a multiagent coordination problem where the objective is to steer a team of mobile agents into a formation of variable size. We assume the shape description of the formation is known to all agents, but the desired size scaling of the formation is known only to a subset of agents. We present two strategies that allow the agents to maneuver to the desired scaled formation using only local relative position information. These strategies can be implemented using information gathered via local sensors and no interagent communication. We compare the two methods through several examples with simulations.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2012.06.083