Title :
Multi-agent coordination with cohesion, dispersion, and containment control
Author :
Fei Chen ; Wei Ren ; Zongli Lin
Author_Institution :
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA
fDate :
June 30 2010-July 2 2010
Abstract :
In this paper, the containment control problem is studied. The particular interest is to drive all followers towards the convex hull formed by the leaders while producing swarming behavior and keeping group dispersion. To this aim a decentralized control law is proposed which ensures collision-free movements. It is shown that the tracking error can be controlled by simply tuning some control parameters.
Keywords :
decentralised control; multi-agent systems; multi-robot systems; cohesion control; collision free movement; containment control problem; convex hull; decentralized control law; dispersion control; multiagent coordination; swarming behavior; tracking error; Assembly; Biological system modeling; Circuit optimization; Control systems; Distributed control; Drives; Error correction; Predictive models; Protocols; Wiring;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531101
