DocumentCode
3286951
Title
Multi-agent coordination with cohesion, dispersion, and containment control
Author
Fei Chen ; Wei Ren ; Zongli Lin
Author_Institution
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA
fYear
2010
fDate
June 30 2010-July 2 2010
Firstpage
4756
Lastpage
4761
Abstract
In this paper, the containment control problem is studied. The particular interest is to drive all followers towards the convex hull formed by the leaders while producing swarming behavior and keeping group dispersion. To this aim a decentralized control law is proposed which ensures collision-free movements. It is shown that the tracking error can be controlled by simply tuning some control parameters.
Keywords
decentralised control; multi-agent systems; multi-robot systems; cohesion control; collision free movement; containment control problem; convex hull; decentralized control law; dispersion control; multiagent coordination; swarming behavior; tracking error; Assembly; Biological system modeling; Circuit optimization; Control systems; Distributed control; Drives; Error correction; Predictive models; Protocols; Wiring;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2010
Conference_Location
Baltimore, MD
ISSN
0743-1619
Print_ISBN
978-1-4244-7426-4
Type
conf
DOI
10.1109/ACC.2010.5531101
Filename
5531101
Link To Document