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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
Identifiers
URN: urn:nbn:se:kth:diva-121121DOI: 10.1002/asjc.542ISI: 000316332900018Scopus ID: 2-s2.0-84875328252OAI: oai:DiVA.org:kth-121121DiVA: diva2:616924
Funder
Swedish Foundation for Strategic Research
Note

QC 20130419

Available from: 2013-04-19 Created: 2013-04-19 Last updated: 2017-12-06Bibliographically approved

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Hu, Xiaoming

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