A Kinematic Model for Swarm Finite-Time Trajectory Tracking

This paper focuses on the trajectory tracking problem for a swarm of mobile agents. A kinematic model describing the interactions and evolutions of the swarm members is proposed and its main properties are analyzed emphasizing that the agents centroid is ensured to track in finite-time a given refer...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2019-10, Vol.49 (10), p.3806-3815
Main Authors: Fedele, Giuseppe, D'Alfonso, Luigi
Format: Article
Language:English
Subjects:
Agents (artificial intelligence)
Analytical models
Configuration management
Ellipsoids
Finite-time control
Kinematics
Multi-agent systems
multiagent system
Properties (attributes)
Robot kinematics
Straight lines
swarm evolution
Tracking problem
Trajectories
Trajectory
Trajectory tracking
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Summary:This paper focuses on the trajectory tracking problem for a swarm of mobile agents. A kinematic model describing the interactions and evolutions of the swarm members is proposed and its main properties are analyzed emphasizing that the agents centroid is ensured to track in finite-time a given reference trajectory and that the agents reach an aggregation in finite-time in a hyper-ball moving around the centroid path. One of the main characteristics of the model is the presence of an interaction matrix, between agents coordinates, which allows to define some properties of the swarm allowing the creation of different forms of agents aggregations, i.e., spheres, ellipsoids, straight lines, etc. Indeed swarm properties related to the agents configuration around the performed path along with agents interactions and absence of collisions are analyzed depending on the chosen interaction matrix.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2018.2856269