Title :
Distributed tracking of a rigid formation for multi-agent systems
Author :
Bai Lu ; Chen Fei ; Lan Weiyao
Author_Institution :
Dept. of Autom., Xiamen Univ., Xiamen, China
Abstract :
In this paper, two algorithms based on the rigidity matrix are proposed to control a formation of a multi-agent system. The objective is to drive all the agents to achieve a predefined formation while following a desired translational velocity under the constrains that the desired velocity is available to only a subset of the agents and the agents have only local interaction. The proposed control algorithms consist of a formation acquisition term which depends on a potential function and the rigidity matrix, and a velocity estimation term. Simulation results are provided to show the effectiveness of the proposed control algorithms.
Keywords :
distributed control; distributed tracking; matrix algebra; mobile robots; multi-robot systems; position control; velocity control; distributed tracking; multiagent systems; rigid formation control; rigidity matrix; velocity estimation; Algorithm design and analysis; Heuristic algorithms; Maintenance engineering; Multi-agent systems; Simulation; Target tracking; Trajectory; Decentralized Estimator; Formation Control; Graph Rigidity; Multi-agent System;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896814