Change search
ReferencesLink to record
Permanent link

Direct link
A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
2008 (English)In: Automatica, ISSN 0005-1098, Vol. 44, no 10, 2648-2654 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, a feedback control strategy that achieves convergence of a multi-agent system to a desired formation configuration is proposed for both the cases of agents with single integrator and nonholonomic unicycle-type kinematics. When inter-agent objectives that specify the desired formation cannot occur simultaneously in the state space the desired formation is infeasible. it is shown that under certain assumptions, formation infeasibility forces the agents' velocity vectors to a common value at steady state. This provides a connection between formation infeasibility and flocking behavior for the multi-agent system. We finally also obtain an analytic expression of the common velocity vector in the case of formation infeasibility.

Place, publisher, year, edition, pages
2008. Vol. 44, no 10, 2648-2654 p.
Keyword [en]
Decentralized control, Autonomous systems, Formation control, Multi-agent systems, nonsmooth systems, agents, graphs
URN: urn:nbn:se:kth:diva-17952DOI: 10.1016/j.automatica.2008.03.013ISI: 000260728400023ScopusID: 2-s2.0-52949083916OAI: diva2:335997
QC 20100525Available from: 2010-08-05 Created: 2010-08-05Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Dimarogonas, Dimos V.
By organisation
Automatic Control
In the same journal

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 19 hits
ReferencesLink to record
Permanent link

Direct link