DocumentCode
2276316
Title
Leader-based multi-agent coordination: controllability and optimal control
Author
Ji, Meng ; Muhammad, Abubakr ; Egerstedt, Magnus
Author_Institution
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA
fYear
2006
fDate
14-16 June 2006
Abstract
In this paper, we consider the situation where a collection of leaders dictate the motion of the followers in heterogenous multi-agent applications. In particular, the followers move according to a decentralized averaging rule, while the leaders´ motion is unconstrained. Thus, the trajectories of the leaders can be viewed as exogenous control inputs, which allows us to state and study questions concerning controllability and optimal control
Keywords
controllability; multi-agent systems; optimal control; controllability; decentralized averaging rule; exogenous control inputs; heterogenous multiagent applications; leader trajectories; leader-based multiagent coordination; optimal control; Controllability; Dogs; Graph theory; Military computing; Motion control; Network topology; Optimal control; Robot kinematics; Stability; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2006
Conference_Location
Minneapolis, MN
Print_ISBN
1-4244-0209-3
Electronic_ISBN
1-4244-0209-3
Type
conf
DOI
10.1109/ACC.2006.1656406
Filename
1656406
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