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    Flocking for multiple ellipsoidal agents with limited communication ranges

    192842_95247_Journal_Articles-50.pdf (5.945Mb)
    Access Status
    Open access
    Authors
    Do, Khac Duc
    Date
    2013
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Do, K.D. 2013. Flocking for multiple ellipsoidal agents with limited communication ranges. ISRN Robotics. 2013: 387465 (13 p.).
    Source Title
    ISRN Robotics
    DOI
    10.5402/2013/387465
    ISSN
    2090-8806
    Remarks

    This article is published under the Open Access publishing model and distributed under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/3.0/ Please refer to the licence to obtain terms for any further reuse or distribution of this work.

    URI
    http://hdl.handle.net/20.500.11937/24663
    Collection
    • Curtin Research Publications
    Abstract

    This paper contributes a design of distributed controllers for flocking of mobile agents with an ellipsoidal shape and a limited communication range. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation condition between the ellipsoidal agents are embedded in novel pairwise potential functions to design flocking control algorithms. The proposed flocking design results in (1) smooth controllers despite of the agents’ limited communication ranges, (2) no collisions between any agents, (3) asymptotic convergence of each agent’s generalized velocity to a desired velocity, and (4) boundedness of the flock size, defined as the sum of all distances between the agents, by a constant.

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