Title

Distributed Control Of Swarm Motions As Continua Using Homogeneous Maps And Agent Triangulation

Abstract

In this paper, presented is an approach for the control of swarm motions that treats a swarm as a deformable body or a continuum. By considering a special class of motion maps between a current configuration prescribed at a given time t and a desired configuration prescribed at a subsequent time t+Δt called a homogeneous map two strategies are proposed for the control of a swarm or a multi-agent system (MAS). In the first strategy, MAS motion control is achieved with no communication among agents in the idealized case where the required map from any t to t+Δt may be predetermined. It is the case when a desired swarm task can be scripted ahead of time with some certainty. The second control strategy is based on three leaders prescribing the motion map for a desired swarm task which is then propagated to the followers via a local inter-agent communication protocol. The proposed communication protocol exploits some special features of homogeneous maps. It achieves the desired MAS motion control with three leaders and minimum inter-agent communications. Simulation results validate the effectiveness of the proposed strategies. © 2013 EUCA.

Publication Date

1-1-2013

Publication Title

2013 European Control Conference, ECC 2013

Number of Pages

2824-2830

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.23919/ecc.2013.6669392

Socpus ID

84893319705 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84893319705

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