An inverse agreement control strategy with application to swarm dispersion
2007 (English)In: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, 2007, 3824-3829 p.Conference paper (Refereed)
We propose an inverse agreement control strategy for multiple kinematic agents that forces the team members to disperse in the workspace in a distributed manner. Both the cases of an unbounded and a cyclic, bounded workspace are considered. In the first case, we show that the closed loop system reaches a configuration in which the minimum distance between any pair of agents is larger than a specific lower bound. It is proved that this lower bound coincides with the agents' sensing radius. In the case of a bounded cyclic workspace, the control law is redefined in order to force the agents to remain within the workspace boundary throughout the closed loop system evolution. Moreover the proposed control design guarantees collision avoidance between the team members in both cases. The results are supported through relevant computer simulations.
Place, publisher, year, edition, pages
2007. 3824-3829 p.
, IEEE conference on decision and control - proceedings, ISSN 0191-2216
IdentifiersURN: urn:nbn:se:kth:diva-26542DOI: 10.1109/CDC.2007.4434633ISI: 000255181702025ScopusID: 2-s2.0-51649096192OAI: oai:DiVA.org:kth-26542DiVA: diva2:385477
46th IEEE Conference on Decision and Control New Orleans, LA, DEC 12-14, 2007
QC 201101112011-01-112010-11-252011-01-11Bibliographically approved