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    Simultaneous-arrival of multiple agents with different targets

    Access Status
    Fulltext not available
    Authors
    Li, R.
    Shi, Y.
    Date
    2014
    Type
    Conference Paper
    
    Metadata
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    Citation
    Li, R. and Shi, Y. 2014. Simultaneous-arrival of multiple agents with different targets, in 33rd Chinese Control Conference, Jul 28 2014. Nanjing; China: IEEE Computer Society.
    Source Title
    CCC 2014
    Source Conference
    33rd Chinese Control Conference
    DOI
    10.1109/ChiCC.2014.6896880
    URI
    http://hdl.handle.net/20.500.11937/20216
    Collection
    • Curtin Research Publications
    Abstract

    In this paper, we study the simultaneous-arrival problem of multi-agent systems, where the multiple agents with distributed protocol will reach same target or different targets. We first introduce the time-estimator for each agent to arrive the target and show the convergence of the time-estimator algorithm by using Lyapunov Theory and Lasalle's Invariance Principle. On this basis, we then establish the simultaneous-arrival control algorithm for multi-agent systems without obstacle. Furthermore, the simultaneous-arrival algorithm with obstacle avoidance is studied. The convergence analyses are given for the proposed simultaneous-arrival protocols. Finally, the simulation results are presented to demonstrate the effectiveness of our theoretical methods in achieving simultaneous-arrival.

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