Formation Control Algorithm of Agents Based on Earth Mover’s Distance

Joint Authors

Liu, Bangquan
Zhu, Shaojun
Sun, Dechao
Meng, Yun
Zhou, Guangyu
Huang, Lijun

Source

Mathematical Problems in Engineering

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-10-14

Country of Publication

Egypt

No. of Pages

10

Main Subjects

Civil Engineering

Abstract EN

Massive sport, such as unmanned aerial vehicle performance, often needs fast and efficient calculation of formation morphing and individual path planning.

This paper introduces a novel fast formation control method of a crowd.

First, we get the agents’ location in a 2D polygon with centroidal Voronoi tessellation and L-BFGS techniques.

Then, we transform crowd formation shapes with a global shortest motion path pair assignment using earth mover’s distance algorithm.

Finally, the repulsing force between agents and obstacles is calculated based on the recursive velocity observer method control agents’ motion.

Extensive experimental results show the effectiveness and usefulness of our algorithm in 2D group formation transformation.

American Psychological Association (APA)

Liu, Bangquan& Zhu, Shaojun& Sun, Dechao& Meng, Yun& Zhou, Guangyu& Huang, Lijun. 2020. Formation Control Algorithm of Agents Based on Earth Mover’s Distance. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1195188

Modern Language Association (MLA)

Liu, Bangquan…[et al.]. Formation Control Algorithm of Agents Based on Earth Mover’s Distance. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1195188

American Medical Association (AMA)

Liu, Bangquan& Zhu, Shaojun& Sun, Dechao& Meng, Yun& Zhou, Guangyu& Huang, Lijun. Formation Control Algorithm of Agents Based on Earth Mover’s Distance. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1195188

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1195188