Local control strategies for groups of mobile autonomous agents

The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strat...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 49; no. 4; pp. 622 - 629
Main Authors Zhiyun Lin, Broucke, M., Francis, B.
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.04.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerospace simulation
Applied sciences
Automatic control
Autonomous
Autonomous agents
Birds
Collisions
Computer science; control theory; systems
Control theory. Systems
Convergence
Distributed algorithms
Distributed control
Evolution
Evolution (biology)
Exact sciences and technology
Robots
Strategy
Underwater vehicles
Unmanned aerial vehicles
Distributed control
Agreement
Multipoint method
Collision
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Summary:The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2004.825639