Title :
Artificial Formation Forces for Stable Aggregation of Multi-Agent System
Author :
Ekanayake, Samitha W. ; Pathirana, Pubudu N.
Author_Institution :
Deakin Univ., Geelong
Abstract :
This paper introduces, a robust and stable algorithm based on artificial formation forces, for multi-agent system (MAS) aggregation in 2D space. The MAS model with artificial forces; consists of inter-member collision avoidance element, formation generation element and a velocity based damping element; is analysed for stability and convergence. Computer simulations are used to illustrate stability and convergence, and to demonstrate effectiveness of the algorithm.
Keywords :
convergence; multi-agent systems; stability; artificial formation forces; computer simulations; convergence analysis; formation generation element; inter-member collision avoidance element; multiagent system aggregation; stability analysis; stable aggregation; velocity-based damping element; Computer simulation; Convergence; Damping; Insects; Medical robotics; Multiagent systems; Robot kinematics; Robustness; Space technology; Stability analysis; Aggregation; Formation; Multi-agent System; Stability analysis; Swarm;
Conference_Titel :
Information and Automation, 2006. ICIA 2006. International Conference on
Conference_Location :
Shandong
Print_ISBN :
1-4244-0555-6
Electronic_ISBN :
1-4244-0555-6
DOI :
10.1109/ICINFA.2006.374095
