Title :
Control of undirected four-agent formations in 3-dimensional space
Author :
Myoung-Chul Park ; Kyungmin Jeong ; Hyo-Sung Ahn
Author_Institution :
Sch. of Mechatron., Gwangju Inst. of Sci. & Technol., Gwangju, South Korea
Abstract :
We investigate a four-agent tetrahedral formation consisting of mobile autonomous agents in 3-dimensional space. The formation shape is required to be maintained only by the given inter-agent distance constraints. We use the gradient control to maneuver the agents to achieve the desired inter-agent distances. We provide analysis on the global behavior of the agents to explain whether or not the agents converge to the desired equilibrium set. Numerical simulation results are also included.
Keywords :
gradient methods; mobile agents; multi-agent systems; numerical analysis; 3-dimensional space; formation shape; four agent tetrahedral formation; gradient control; interagent distance constraints; mobile autonomous agents; numerical simulation; undirected four agent formation control;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760088
