Title :
Aggregation of multiple agents with first-order dynamics and finite size body
Author :
Cao, Li ; Zheng, Yufan ; Zhou, Qing ; Zhang, Xiaomei
Author_Institution :
Dept. of Comput. Sci. & Technol., East China Normal Univ., Shanghai, China
Abstract :
In this paper we consider the aggregation problem for the agents with finite size body. Each agent is modeled as a (hyper-)sphere with first-order dynamics. A theory is established for analysis to the problem of cohesion with collision avoidance. Explosion and broken phenomenon is observed in simulation, some robust indices are proposed to investigate the phenomenon.
Keywords :
collision avoidance; multi-agent systems; broken phenomenon; collision avoidance; explosion phenomenon; finite size body; first-order dynamics; multiple agent aggregation; Autonomous agents; Collision avoidance; Computer simulation; Explosions; Mathematical model; Mathematics; Mobile agents; Multiagent systems; Robustness; Vehicle dynamics; Aggregation; cohesion; collision avoidance; mobile agents; multi-agent system; potential functions; robustness;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399924
