Combined Flocking and Distance-Based Shape Control of Multi-Agent Formations

Mohammad Deghat; Brian D.O. Anderson; Zhiyun Lin

doi:10.1109/TAC.2015.2480217

Combined Flocking and Distance-Based Shape Control of Multi-Agent Formations

Mohammad Deghat, Brian D.O. Anderson, Zhiyun Lin

Research output: Contribution to journal › Article › peer-review

110 Citations (Scopus)

Abstract

Steepest descent control laws can be used for formation shape control based on specified inter-agent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This work shows how the two concepts of formation shape control and flocking behavior can be combined when one changes from an agent with single integration to one with double integration.

Original language	English
Article number	7272051
Pages (from-to)	1824-1837
Number of pages	14
Journal	IEEE Transactions on Automatic Control
Volume	61
Issue number	7
DOIs	https://doi.org/10.1109/TAC.2015.2480217
Publication status	Published - Jul 2016

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10.1109/TAC.2015.2480217

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Combined Flocking and Distance-Based Shape Control of Multi-Agent Formations

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