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Formation stabilization and resizing based on the control of inter‐agent distances
Author(s) -
Park MyoungChul,
Jeong Kyungmin,
Ahn HyoSung
Publication year - 2014
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3212
Subject(s) - graph , multi agent system , control (management) , topology (electrical circuits) , directed acyclic graph , computer science , decentralised system , directed graph , resizing , frame (networking) , distributed computing , control theory (sociology) , mathematics , algorithm , theoretical computer science , combinatorics , artificial intelligence , economics , computer network , international trade , european union
Summary We propose a control strategy that could steer the group of mobile agents in the plane to achieve a specified formation. The control law could be implemented in a fully decentralized manner so that each agent moves on their own local reference frame. Under the acyclic minimally persistent graph topology, each agent measures the relative displacements of neighboring agents and then adjusts the distances between them to achieve the desired formation. As well as achieving a fixed formation, we could resize the formation only by changing the leader edge, which connects the leader with the first‐follower in acyclic minimally persistent graph, without changing the structures of the control law. Copyright © 2014 John Wiley & Sons, Ltd.