Title :
Group flocking of multiple mobile agents
Author :
Gangshan Jing ; Yuanshi Zheng ; Long Wang
Author_Institution :
Center for Complex Syst., Xidian Univ., Xi´an, China
Abstract :
In this paper, we consider group flocking of multi-agent systems in which agents are dispersed to different subgroups. By using local information, the flocking algorithms are proposed to solve group flocking problem in heterogeneous and homogeneous networks, respectively. For each given algorithm, the corresponding criterions are established to ensure both velocity alignment, cohesion of each subgroup, and collision avoidance between any two agents in the whole group. The proposed protocol can be modified to realize the division of agents into any pre-assigned number of subgroups, while solves the traditional flocking problem for each subgroup. Finally, simulation results are presented to verify the effectiveness of our theoretical results.
Keywords :
collision avoidance; mobile agents; multi-agent systems; collision avoidance; group flocking; heterogeneous networks; homogeneous networks; local information; multi-agent systems; multiple mobile agents; subgroup cohesion; velocity alignment; Eigenvalues and eigenfunctions; Laplace equations; Mobile agents; Protocols; Switches; Topology; Vectors; Flocking; Heterogeneous networks; Multi-agent systems; Multiple groups;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896791