Change search
ReferencesLink to record
Permanent link

Direct link
Connectivity Preserving Flocking without Velocity Measurement
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-0177-1993
2013 (English)In: Asian journal of control, ISSN 1561-8625, E-ISSN 1561-8625, Vol. 15, no 2, 521-532 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, we address the design of a decentralized controller for connectivity-preserving flocking, where each agent only can access to the position information of the agents within its sensing zone. An output vector, based on the position information alone, is constructed to replace the role of velocity, and some bounded attractive and repulsive forces are integrated together to design the controller. We prove that the controller not only synchronizes all agents in a stable formation, but also enables collision avoidance and connectivity preserving all of the time, when the initial condition meets certain requirements. Moreover, a leader-follower method is used to guide the group to a desired direction, where the followers can sense the leader only if the distance between them is less than the communication radius.

Place, publisher, year, edition, pages
Wiley-Blackwell, 2013. Vol. 15, no 2, 521-532 p.
Keyword [en]
Connectivity, distributed control, autonomous agents, leader-follower flocking
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-121121DOI: 10.1002/asjc.542ISI: 000316332900018ScopusID: 2-s2.0-84875328252OAI: diva2:616924
Swedish Foundation for Strategic Research

QC 20130419

Available from: 2013-04-19 Created: 2013-04-19 Last updated: 2016-04-18Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Hu, Xiaoming
By organisation
Optimization and Systems TheoryACCESS Linnaeus CentreCentre for Autonomous Systems, CAS
In the same journal
Asian journal of control
Control Engineering

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: 43 hits
ReferencesLink to record
Permanent link

Direct link