Controlling the Relative Agent Motion in Multi-Agent Formation Stabilization
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
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.
Agents and autonomous systems, cooperative control
Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering
IdentifiersURN: urn:nbn:se:kth:diva-143695DOI: 10.1109/TAC.2013.2281480ISI: 000332037800029ScopusID: 2-s2.0-84897732246OAI: oai:DiVA.org:kth-143695DiVA: diva2:708636
FunderSwedish Research Council, 2009-3948
QC 201403282014-03-282014-03-272014-03-28Bibliographically approved