DocumentCode :
743347
Title :
How Much Control is Enough for Network Connectivity Preservation and Collision Avoidance?
Author :
Zhiyong Chen ; Ming-Can Fan ; Hai-Tao Zhang
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia
Volume :
45
Issue :
8
fYear :
2015
Firstpage :
1647
Lastpage :
1656
Abstract :
For a multiagent system in free space, the agents are required to generate sufficiently large cohesive force for network connectivity preservation and sufficiently large repulsive force for collision avoidance. This paper gives an energy function based approach for estimating the control force in a general setting. In particular, the force estimated for network connectivity preservation and collision avoidance is separated from the force for other collective behavior of the agents. Moreover, the estimation approach is applied in three typical collective control scenarios including swarming, flocking, and flocking without velocity measurement.
Keywords :
collision avoidance; force control; multi-agent systems; multi-robot systems; agent behavior; collective control scenario; collision avoidance; control force estimation; energy function based approach; flocking scenario; flocking without velocity measurement scenario; multiagent system; network connectivity preservation; swarming scenario; Collision avoidance; Estimation; Force; Multi-agent systems; Nickel; Symmetric matrices; Velocity measurement; Collective control; collision avoidance; cooperative control; multiagent systems; network control;
fLanguage :
English
Journal_Title :
Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
2168-2267
Type :
jour
DOI :
10.1109/TCYB.2014.2357838
Filename :
6912963
Link To Document :
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