Torus problems in jointly-connected no-beacon networks

Author

Chen, Zhiyong ; Zhang, Hai-Tao

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia

fYear

2010

fDate

15-17 Dec. 2010

Firstpage

7147

Lastpage

7152

Abstract

In this paper, a decentralized control algorithm is proposed for a group of nonholonomic vehicles to form a class of collective circular motion behavior. Without the guidance of a global position reference or a beacon, the desired collective behavior occurs provided that the multi-agent system is jointly-connected. Moreover, a repulsion mechanism is considered to improve the distribution evenness of the agents´ circular motion phases and hence to avoid collision. The effectiveness of the approach is verified through both theoretical analysis and numerical simulation.

Keywords

collision avoidance; decentralised control; motion control; multi-agent systems; multi-robot systems; numerical analysis; Torus problems; collective circular motion behavior; decentralized control algorithm; global position reference; jointly-connected no-beacon networks; multiagent system; nonholonomic vehicles; numerical simulation; repulsion mechanism; theoretical analysis; Algorithm design and analysis; Convergence; Multiagent systems; Numerical simulation; Stability analysis; Trajectory; Velocity control; Circular motion; Collective behavior; Multi-agent systems; Nonholonomic vehicles; Torus;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2010 49th IEEE Conference on

Conference_Location

Atlanta, GA

ISSN

0743-1546

Print_ISBN

978-1-4244-7745-6

Type

conf

DOI

10.1109/CDC.2010.5717731

Filename

5717731