Title :
Decentralized policies for geometric pattern formation
Author :
Pavone, Marco ; Frazzoli, Emilio
Author_Institution :
Dept. of Aeronaut. & Astronaut., Massachusetts Inst. of Technol., Cambridge, MA
Abstract :
This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle alpha, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of alpha. Simulation results are presented and discussed.
Keywords :
computational geometry; decentralised control; mobile robots; multi-robot systems; decentralized control policy; geometric pattern formation; logarithmic spiral pattern; mobile robot; multiagent system; Communication system control; Control systems; Distributed control; Linear feedback control systems; Mobile robots; Nearest neighbor searches; Pattern formation; Robot kinematics; Spirals; Stability;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4283108
