Title

Multi-Agent Deployment Based On Homogenous Maps And A Special Inter-Agent Communication Protocol

Keywords

Asymptotic convergence; Formation control; Homogenous transformation; Local communication

Abstract

In this paper, presented is a methodology for formation control of an n-D multi agent system (MAS). The n-D motion of the MAS is treated as n one-D motions with the evolution of each coordinate of an agent representing the collective motion of a continuum of agents constrained to always stay on a straight line. The motion of the continuum is controlled by the two vertex agents, left most and the right most, by preserving certain distance ratios among the agents. First, it is shown how a specific homogenous map defining a desired agent topology may be achieved by local inter-agent communication. Second, a strategy for deploying agents to lie on a desired curve utilizing local inter-agent communication and starting from a randomly distributed initial topology is outlined. © 2013 IFAC.

Publication Date

1-1-2013

Publication Title

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volume

46

Issue

5

Number of Pages

569-576

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.3182/20130410-3-CN-2034.00100

Socpus ID

84881053583 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84881053583

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