DocumentCode
3175818
Title
Decentralized policies for geometric pattern formation
Author
Pavone, Marco ; Frazzoli, Emilio
Author_Institution
Dept. of Aeronaut. & Astronaut., Massachusetts Inst. of Technol., Cambridge, MA
fYear
2007
fDate
9-13 July 2007
Firstpage
3949
Lastpage
3954
Abstract
This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle alpha, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of alpha. Simulation results are presented and discussed.
Keywords
computational geometry; decentralised control; mobile robots; multi-robot systems; decentralized control policy; geometric pattern formation; logarithmic spiral pattern; mobile robot; multiagent system; Communication system control; Control systems; Distributed control; Linear feedback control systems; Mobile robots; Nearest neighbor searches; Pattern formation; Robot kinematics; Spirals; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2007. ACC '07
Conference_Location
New York, NY
ISSN
0743-1619
Print_ISBN
1-4244-0988-8
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2007.4283108
Filename
4283108
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