Decentralized control of multi-agent systems for swarming with a given geometric pattern

This paper addresses a problem of cooperative formation control of a network of self-deployed autonomous agents. We propose a decentralized motion coordination control for the agents so that they collectively move in a desired geometric pattern from any initial position. There are no predefined lead...

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Bibliographic Details
Published in:	Computers & mathematics with applications (1987) Vol. 61; no. 4; pp. 731 - 744
Main Authors:	Cheng, Teddy M., Savkin, Andrey V.
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01-02-2011
Subjects:	Agents (artificial intelligence) Collective behavior Computer simulation Decentralized Decentralized control Expert systems Mathematical models Multi-agent and autonomous systems Networks Swarming Decentralized control Collective behavior Multi-agent and autonomous systems
Online Access:	Get full text
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Summary:	This paper addresses a problem of cooperative formation control of a network of self-deployed autonomous agents. We propose a decentralized motion coordination control for the agents so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The control algorithm is developed using the ideas of information consensus, and its effectiveness is illustrated via numerical simulations.
Bibliography:	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	0898-1221 1873-7668
DOI:	10.1016/j.camwa.2010.11.023