Balanced circular formation control based on gossip communication and angle of arrival information

Author

Guo Jing ; Yan Gangfeng ; Lin Zhiyun

Author_Institution

Asus Intell. Syst. Lab., Zhejiang Univ., Hangzhou, China

fYear

2011

fDate

22-24 July 2011

Firstpage

6036

Lastpage

6041

Abstract

The paper studies the problem of stabilizing a group of anonymous agents into a balanced circular formation, for which the agents are evenly spaced on a circular trajectory and the geometric center of the agents is fixed. A novel control algorithm is proposed utilizing only angle of arrival information (bearing). We consider the scenario of gossip communications: at every piece of time interval a randomly chosen pair of agents communicates so that both can measure the angle of arrival (AoA) and exchange the AoA information each other. The effectiveness of the control algorithm is demonstrated via simulation results.

Keywords

direction-of-arrival estimation; mobile agents; telecommunication control; AoA information; agent communication; angle of arrival information; anonymous agent group; balanced circular formation control algorithm; circular trajectory; geometric center; gossip communication; time interval; Distributed control; Extraterrestrial measurements; Force; Multiagent systems; Switches; Time measurement; Trajectory; Angle of Arrival; Formation; Gossip Communication;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6000821