Title :
Adaptive rendezvous of multiple mobile agents with nonlinear dynamics and preserved network connectivity
Author :
Su, Housheng ; Li, Chanying ; Chen, Michael Z Q
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
This paper investigates rendezvous of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. It is assumed that only a fraction of agents in the group have access to the information on the position and velocity of the virtual leader. To avoid fragmentation, a bounded connectivity-preserving rendezvous algorithm is proposed for the multi-agent systems. Under the assumption that the initial network is connected, local adaptation strategies for the rendezvous algorithm are introduced that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics. Simulation results on an example are given to numerically verify the theoretical results.
Keywords :
mobile agents; multi-agent systems; nonlinear dynamical systems; adaptive rendezvous; connectivity preserving rendezvous algorithm; dynamic proximity network; multiagent systems; multiple nonlinear dynamical mobile agents; preserved network connectivity; virtual leader; Mobile agents; Multiagent systems; Nonlinear dynamical systems; Protocols; Symmetric matrices; Synchronization; Topology; Distributed control; multi-agent system; network connectivity; rendezvous;
Conference_Titel :
Control Conference (ASCC), 2011 8th Asian
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-61284-487-9
Electronic_ISBN :
978-89-956056-4-6