Flocking Control of Groups of Mobile Autonomous Agents via Local Feedback
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Authors
Wang, Long
Shi, Hong
Chu,Tianguang
Zhang, Weicun
Zhang, Lin
Subjects
multi-agent systems
aggregation
cohesion
collision avoidance
coordination
flocking control
networked systems
information flow
local feedback
global collective behavior
swarm intelligence
aggregation
cohesion
collision avoidance
coordination
flocking control
networked systems
information flow
local feedback
global collective behavior
swarm intelligence
Advisors
Date of Issue
2005
Date
16 Feb 2005
Publisher
Language
Abstract
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces. By using the control laws, all agent velocities asymptotically approach the desired velocity, collisions can be avoided between agents, and the final tight formation minimizes all agent potentials. Moreover, we prove that the velocity of the center of mass is always equal to the desired velocity or exponentially converges to the desired value. Furthermore, we study the motion of the group when the velocity damping is taken into account. In this case, we can properly modify the control laws to generate the same stable flocking motion. Finally, for the case that not all agents know the desired final velocity, we show that the desired flocking motion can still be obtained. Numerical simulations are worked out to illustrate our theoretical results.
Type
Article
Description
Series/Report No
Department
Computer Science (CS)