Flocking for multiple ellipsoidal agents with limited communication ranges
Access Status
Authors
Date
2013Type
Metadata
Show full item recordCitation
Source Title
ISSN
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.
Collection
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.
Related items
Showing items related by title, author, creator and subject.
-
Do, Khac Duc (2011)In existing flocking and coordination control systems of multiple agents, an agent is considered as a single point or a circular disk. For agents with a long and narrow shape, fitting them to circular disks results in a ...
-
Do, Khac Duc (2012)This paper contributes a design of cooperative controllers that force N mobile agents with an ellipsoidal shape and a limited sensing range to track desired trajectories and to avoid collision between them. A separation ...
-
Colombo, L.; Moreno, P.; Ye, Mengbin ; de Marina, H.G.; Cao, M. (2020)A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational ...