DocumentCode
404463
Title
Local control strategies for groups of mobile autonomous agents
Author
Lin, Zhiyun ; Broucke, Mireille ; Francis, Bruce
Author_Institution
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada
Volume
1
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
1006
Abstract
The problem is studied of achieving a specified formation among a group of mobile autonomous agents by distributed control. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.
Keywords
convergence; directed graphs; distributed control; mobile robots; agreement problem; control strategies; convergence; distributed control; mobile autonomous agents; Autonomous agents; Birds; Convergence; Distributed algorithms; Distributed control; Evolution (biology); Mobile agents; Mobile computing; Robots; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272699
Filename
1272699
Link To Document