Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents

المؤلفون المشاركون

Atta, Debabrata
Subudhi, Bidyadhar
Gupta, Madan M.

المصدر

Journal of Robotics

العدد

المجلد 2010، العدد 2010 (31 ديسمبر/كانون الأول 2010)، ص ص. 1-12، 12ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2010-07-28

دولة النشر

مصر

عدد الصفحات

12

التخصصات الرئيسية

هندسة ميكانيكية

الملخص EN

This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agent.

A rigid and constraint consistent graph is called persistent graph.

A persistent graph is minimally persistent if it is persistent, and no edge can be removed without losing its persistence.

An acyclic (free of cycles in its sensing pattern) minimally persistent graph of Leader-Follower structure has been considered here which can be constructed from an initial Leader-Follower seed (initial graph with two vertices, one is Leader and another one is First Follower and one edge in between them is directed towards Leader) by Henneberg sequence (a procedure of growing a graph) containing only vertex additions.

A set of nonlinear optimization-based decentralized control laws for mobile autonomous point agents in two dimensional plane have been proposed.

An infinitesimal deviation in formation shape created continuous motion of Leader is compensated by corresponding continuous motion of other agents fulfilling the shortest path criteria.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Atta, Debabrata& Subudhi, Bidyadhar& Gupta, Madan M.. 2010. Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents. Journal of Robotics،Vol. 2010, no. 2010, pp.1-12.
https://search.emarefa.net/detail/BIM-465844

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Atta, Debabrata…[et al.]. Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents. Journal of Robotics No. 2010 (2010), pp.1-12.
https://search.emarefa.net/detail/BIM-465844

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Atta, Debabrata& Subudhi, Bidyadhar& Gupta, Madan M.. Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-12.
https://search.emarefa.net/detail/BIM-465844

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-465844