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
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;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1656406
