Decentralized cohesive motion control of multi-agent formations

Srikumar Sandeep; Bariş Fidan; Changbin Yu

doi:10.1109/MED.2006.328692

Decentralized cohesive motion control of multi-agent formations

Srikumar Sandeep^*, Bariş Fidan, Changbin Yu

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

37 Citations (Scopus)

Abstract

This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: The leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results.

Original language	English
Title of host publication	14th Mediterranean Conference on Control and Automation, MED'06
DOIs	https://doi.org/10.1109/MED.2006.328692
Publication status	Published - 2006
Event	14th Mediterranean Conference on Control and Automation, MED'06 - Ancona, Italy Duration: 28 Jun 2006 → 30 Jun 2006

Publication series

Name	14th Mediterranean Conference on Control and Automation, MED'06

Conference

Conference	14th Mediterranean Conference on Control and Automation, MED'06
Country/Territory	Italy
City	Ancona
Period	28/06/06 → 30/06/06

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10.1109/MED.2006.328692

Cite this

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title = "Decentralized cohesive motion control of multi-agent formations",

abstract = "This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: The leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results.",

author = "Srikumar Sandeep and Bari{\c s} Fidan and Changbin Yu",

year = "2006",

doi = "10.1109/MED.2006.328692",

language = "English",

isbn = "0978672003",

series = "14th Mediterranean Conference on Control and Automation, MED'06",

booktitle = "14th Mediterranean Conference on Control and Automation, MED'06",

note = "14th Mediterranean Conference on Control and Automation, MED'06 ; Conference date: 28-06-2006 Through 30-06-2006",

}

Sandeep, S, Fidan, B & Yu, C 2006, Decentralized cohesive motion control of multi-agent formations. in 14th Mediterranean Conference on Control and Automation, MED'06., 1700665, 14th Mediterranean Conference on Control and Automation, MED'06, 14th Mediterranean Conference on Control and Automation, MED'06, Ancona, Italy, 28/06/06. https://doi.org/10.1109/MED.2006.328692

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T1 - Decentralized cohesive motion control of multi-agent formations

AU - Sandeep, Srikumar

AU - Fidan, Bariş

AU - Yu, Changbin

PY - 2006

Y1 - 2006

N2 - This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: The leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results.

AB - This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: The leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results.

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U2 - 10.1109/MED.2006.328692

DO - 10.1109/MED.2006.328692

M3 - Conference contribution

SN - 0978672003

SN - 9780978672003

T3 - 14th Mediterranean Conference on Control and Automation, MED'06

BT - 14th Mediterranean Conference on Control and Automation, MED'06

T2 - 14th Mediterranean Conference on Control and Automation, MED'06

Y2 - 28 June 2006 through 30 June 2006

ER -

Decentralized cohesive motion control of multi-agent formations

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