Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents
Joint Authors
Atta, Debabrata
Subudhi, Bidyadhar
Gupta, Madan M.
Source
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-07-28
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-465844