Title :
Formation control of autonomous agents in 3D workspace
Author :
Kang, W. ; Xi, N. ; Sparks, Andy
Author_Institution :
Dept. of Math., Naval Postgraduate Sch., Monterey, CA, USA
Abstract :
A general method of controller design is developed in this paper for the purpose of formation keeping and reconfiguration of multiple autonomous vehicles. Controllers are designed to keep multiple vehicles in a required formation, and to coordinate the vehicles in the presence of environmental changes. The method is applicable to a large variety of autonomous agents. Examples and simulations are given for ground vehicles, robotic arms and satellites
Keywords :
control system synthesis; mobile robots; multi-agent systems; multi-robot systems; vehicles; 3D workspace; autonomous agents; controller design; environmental changes; formation control; formation keeping; ground vehicles; multiple autonomous vehicle reconfiguration; robotic arms; satellites; Algorithm design and analysis; Autonomous agents; Design methodology; Feedback; Land vehicles; Manipulators; Mobile robots; Remotely operated vehicles; Robot kinematics; Satellites;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844849
