Combined Flocking and Distance-Based Shape Control of Multi-Agent Formations

Steepest descent control laws can be used for formation shape control based on specified inter-agent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2016-07, Vol.61 (7), p.1824-1837
Main Authors: Deghat, Mohammad, Anderson, Brian D. O., Lin, Zhiyun
Format: Article
Language:English
Subjects:
Automatic control
Collection
Convergence
Descent
Eigenvalues and eigenfunctions
Formations
Graphs
Information flow
Manifolds
Multiagent systems
Shape
Shape control
Stability analysis
Trajectory
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Summary:Steepest descent control laws can be used for formation shape control based on specified inter-agent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This work shows how the two concepts of formation shape control and flocking behavior can be combined when one changes from an agent with single integration to one with double integration.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2015.2480217