DocumentCode
724
Title
Distributed Surrounding Design of Target Region With Complex Adjacency Matrices
Author
Youcheng Lou ; Yiguang Hong
Author_Institution
Acad. of Math. & Syst. Sci., Beijing, China
Volume
60
Issue
1
fYear
2015
fDate
Jan. 2015
Firstpage
283
Lastpage
288
Abstract
In this technical note, we consider the distributed surrounding of a convex target set by a group of agents with switching communication graphs. We propose a distributed controller to surround a given set with the same distance and desired projection angles specified by a complex-value adjacency matrix. Under mild connectivity assumptions, we give results in both consistent and inconsistent cases for the set surrounding in a plane. Also, we provide sufficient conditions for the multi-agent coordination when the convex set contains only the origin.
Keywords
distributed control; graph theory; matrix algebra; multi-robot systems; agent group; complex-value adjacency matrix; distributed controller; distributed surrounding design; multiagent coordination; switching communication graphs; target region; Eigenvalues and eigenfunctions; Indexes; Laplace equations; Multi-agent systems; Switches; Vectors; Complex weights; joint connection; multi-agent systems; set surrounding;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2014.2322917
Filename
6813638
Link To Document