Title :
Formation Control and Collision Avoidance in Mobile Agent Systems
Author :
De Gennaro, Maria Carmela ; Iannelli, Luigi ; Vasca, Francesco
Author_Institution :
Dipartimento di Ingegneria, Sannio Univ., Rome
Abstract :
A class of multi-agent systems consisting of mobile decisional agents that have to reach and maintain a formation in the space, by avoiding obstacles and not colliding among them is considered. The whole system is modelled as an undirected graph, where each agent is characterized by a time varying set of connected neighbors. Each agent, at each step of its motion, has to decide among three possible behaviors: formation reaching, collision avoidance, restoring its direction after the avoidance of collision. A decentralized controller with a hierarchical behavior decision strategy is proposed
Keywords :
collision avoidance; decentralised control; graph theory; hierarchical systems; intelligent robots; mobile robots; multi-robot systems; time-varying systems; collision avoidance; decentralized controller; direction restoration; formation control; formation reaching; hierarchical behavior decision strategy; mobile agent systems; mobile decisional agents; multi-agent systems; time varying connected neighbor set; undirected graph; Biological system modeling; Biological systems; Collision avoidance; Control systems; Large-scale systems; Mobile agents; Multiagent systems; Robot kinematics; Time varying systems; Trajectory;
Conference_Titel :
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Conference_Location :
Limassol
Print_ISBN :
0-7803-8936-0
DOI :
10.1109/.2005.1467116