Performance competition in cooperative capturing by multi-agent systems

Author

Tsumura, K. ; Hara, S. ; Sakurai, K. ; Kim, T.-H.

Author_Institution

Dept. of Inf. Phys. & Comput., Univ. of Tokyo, Tokyo, Japan

fYear

2010

fDate

8-10 Sept. 2010

Firstpage

2041

Lastpage

2046

Abstract

In this paper, we deal with a problem to capture a target by linear multi-agent systems where the agents behave autonomously, whereas the target escapes with a reasonable strategy. We give necessary and sufficient conditions or sufficient conditions for the success of the capturing for several cases. The conditions clarify the performance competition between the target and the agents and we propose preferable strategy for the target and the agents, respectively. We consider the problem in the case of simple or general dynamics of the target and the agents. We also demonstrate the results by using numerical simulation.

Keywords

linear systems; matrix algebra; multi-robot systems; robot dynamics; target tracking; agent dynamics; autonomous agent behavior; cooperative capturing; linear multiagent system; numerical simulation; performance competition; target capture; target dynamics; target escape; Biological systems; Eigenvalues and eigenfunctions; Linear systems; Multiagent systems; Numerical simulation; Stability analysis; Tuning;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2010 IEEE International Conference on

Conference_Location

Yokohama

Print_ISBN

978-1-4244-5362-7

Electronic_ISBN

978-1-4244-5363-4

Type

conf

DOI

10.1109/CCA.2010.5611086

Filename

5611086