Deployment of a Multi-Agent System on a Desired Formation

Hossein Rastgoftar
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Hossein Rastgoftar: University of Michigan Ann Arbor, Department of Aerospace Engineering

Chapter Chapter 6 in Continuum Deformation of Multi-Agent Systems, 2016, pp 169-184 from Springer

Abstract: Abstract In this chapter, a decentralized control approach for deployment of an arbitrary distribution of a multi-agent system (MAS) on a desired formation in ℝ n $$\mathbb{R}^{n}$$ (n = 1, 2, 3) is proposed, where avoidance of interagent collision is addressed. For this purpose, the motion of an MAS in ℝ n $$\mathbb{R}^{n}$$ is decoupled into n separate 1-D motion problems. For evolution of the q th (q = 1, 2, 3) components of the agents’ positions, two q-leaders are considered, where they guide the q th components of the MAS evolution. The remaining agents are considered as q-followers, where they update the q th components of their positions through local communication with the communication weights that are consistent with the q th components of the agents’ positions in the final configuration.

Keywords: Desired Formation; Communication Weight; Interagent Collision; Final Configuration; Motion Problem (search for similar items in EconPapers)
Date: 2016
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-319-41594-9_6

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DOI: 10.1007/978-3-319-41594-9_6

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