Title :
Mobile agents formation control in 3D environments based on self organization strategies
Author :
Sanchez-Acevedo, Miguel A. ; López-Mellado, Ernesto ; Ramos-Corchado, Felix
Author_Institution :
CINVESTAV Unidad Guadalajara, Zapopan, Mexico
Abstract :
This paper presents a method for establishing and maintaining structured formations of mobile agents in a 3D environment using self-organization strategies. In the proposed approach the position of the agents in the formation is not defined a priori and the agents are joined progressively into the structure when they arrive. Agent placement and formation balance are achieved through local interactions. The control strategy is defined by a set of if-then rules which are derived from a Petri net model that represents the agent state and the communication with its neighbors. Simulations regarding a wedge formation control are included.
Keywords :
Petri nets; collision avoidance; mobile robots; neurocontrollers; position control; predictive control; state estimation; 3D environment; Grossberg neural network; Petri net model; agent communication; agent placement; agent position; agent state representation; formation balance; if-then rules; local interaction; mobile agent formation control; mobile robots; obstacle detection; predictive control; self organization strategy; structured formation; wedge formation control; Aerospace simulation; Communication system control; Helicopters; Mobile agents; Mobile robots; Robustness; Scalability; Signal generators; Stability; Vehicles; 3D environments; Mobile agents; Petri nets; Self-organization strategies; Structured formations;
Conference_Titel :
System of Systems Engineering, 2009. SoSE 2009. IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
978-1-4244-4766-4
Electronic_ISBN :
978-1-4244-4767-1
