Formation control of multiple agents with preserving connectivity and its application to gradient climbing
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Authors
Do, Khac Duc
Date
2012Type
Journal Article
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Do, K.D. 2012. Formation control of multiple agents with preserving connectivity and its application to gradient climbing. International Journal of Computers, Communications and Control. 7 (4): pp. 632-644.
Source Title
International Journal of Computers, Communications and Control
ISSN
School
Department of Mechanical Engineering
Collection
Abstract
© 2006-2012 by CCC Publications.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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