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Controlling the Relative Agent Motion in Multi-Agent Formation Stabilization
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2014 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, no 3, 820-826 p.Article in journal (Refereed) Published
Abstract [en]

In this technical note, we propose a novel technique to control the relative motion of multiple mobile agents as they stabilize to a desired configuration. In particular, we focus on the agents' relative velocities and the rate of change of their pairwise distances, and employ constructs from classic navigation functions (NFs) to control these quantities. Controlling agent velocities requires nontrivial extensions of the NF methodology to second-order models. Although in this work we propose a centralized framework to control the relative agent velocities, it adds a new dimension to the control of multi-agent systems with several advantages. In particular, we provide a novel approach to control the transient dynamics of a network that may facilitate the integration of continuous motion planing with discrete topology control. The result is verified theoretically and via computer simulations.

Place, publisher, year, edition, pages
2014. Vol. 59, no 3, 820-826 p.
Keyword [en]
Agents and autonomous systems, cooperative control
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-143695DOI: 10.1109/TAC.2013.2281480ISI: 000332037800029Scopus ID: 2-s2.0-84897732246OAI: oai:DiVA.org:kth-143695DiVA: diva2:708636
Funder
Swedish Research Council, 2009-3948
Note

QC 20140328

Available from: 2014-03-28 Created: 2014-03-27 Last updated: 2017-12-05Bibliographically approved

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Guo, MengDimarogonas, Dimos V.

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  • apa
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