Title :
Local control strategies for groups of mobile autonomous agents
Author :
Lin, Zhiyun ; Broucke, Mireille ; Francis, Bruce
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Ont., Canada
fDate :
4/1/2004 12:00:00 AM
Abstract :
The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.
Keywords :
collision avoidance; convergence; distributed control; mobile agents; mobile robots; agent subgroups; convergence; distributed control; group coordinated control; local control strategies; mobile autonomous agents; Aerospace simulation; Autonomous agents; Birds; Convergence; Distributed algorithms; Distributed control; Evolution (biology); Robots; Underwater vehicles; Unmanned aerial vehicles;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2004.825639