DocumentCode
3300622
Title
Aggregation of multiple agents with first-order dynamics and finite size body
Author
Cao, Li ; Zheng, Yufan ; Zhou, Qing ; Zhang, Xiaomei
Author_Institution
Dept. of Comput. Sci. & Technol., East China Normal Univ., Shanghai, China
fYear
2009
fDate
15-18 Dec. 2009
Firstpage
889
Lastpage
894
Abstract
In this paper we consider the aggregation problem for the agents with finite size body. Each agent is modeled as a (hyper-)sphere with first-order dynamics. A theory is established for analysis to the problem of cohesion with collision avoidance. Explosion and broken phenomenon is observed in simulation, some robust indices are proposed to investigate the phenomenon.
Keywords
collision avoidance; multi-agent systems; broken phenomenon; collision avoidance; explosion phenomenon; finite size body; first-order dynamics; multiple agent aggregation; Autonomous agents; Collision avoidance; Computer simulation; Explosions; Mathematical model; Mathematics; Mobile agents; Multiagent systems; Robustness; Vehicle dynamics; Aggregation; cohesion; collision avoidance; mobile agents; multi-agent system; potential functions; robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location
Shanghai
ISSN
0191-2216
Print_ISBN
978-1-4244-3871-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2009.5399924
Filename
5399924
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