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    Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing

    Access Status
    Fulltext not available
    Authors
    Do, Khac
    Date
    2012
    Type
    Journal Article
    
    Metadata
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    Citation
    Do, K.D. 2012. Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing. International Journal of Computers, Communications & Control. 7 (4): pp. 631-643.
    Source Title
    International Journal of Computers, Communications & Control
    ISSN
    1841-9844
    URI
    http://hdl.handle.net/20.500.11937/3000
    Collection
    • Curtin Research Publications
    Abstract

    A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system also preserves initial communication connectivity and guarantees no collisions between the agents. The formation control design is based on smooth step functions, potential functions, and the Lyapunov direct method. The proposed formation control system is applied to solve a gradient climbing problem where the gradient average of a distributed field is estimated over a bounded region using the field measurement by the agents.

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