Formation control of multiple agents with preserving connectivity and its application to gradient climbing
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© 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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Do, Khac Duc (2011)Cooperative controllers are designed to force a group of N mobile agents with limited communication using only relative position between the agents to form a desired formation structure. The centre of the formation structure ...
Do, Khac Duc (2013)A constructive design of bounded formation controllers is proposed to force N mobile agents with second-order dynamics to track N reference trajectories and to avoid collision between them. Instead of a prior assignation ...
Ye, Mengbin ; Anderson, B.D.O.; Yu, C. (2017)Self-localization and formation control tasks are considered when each agent in a multiagent formation observes its neighbors but does not communicate. Each agent is restricted to a predefined motion type on a 2-D plane ...