A New Algorithm for Motion Control of Acyclic Minimally Persistent Formation of Mobile Autonomous Agents

被引：0

作者：

Atta, Debabrata ^{[1
]}

Subudhi, Bidyadhar ^{[1
]}

机构：

[1] Natl Inst Technol, Dept Elect Engn, Rourkela 769008, India

来源：

2009 ANNUAL IEEE INDIA CONFERENCE (INDICON 2009) | 2009年

关键词：

Formation Control; Autonomous Agents; Leader-Follower; Directed Graph; RIGIDITY;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [4] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest path between its initial & final position during the motion of formation is developed using SQP-a nonlinear optimization technique.

引用

页码：37 / 42

页数：6

共 50 条

[1] Control of Acyclic Formations of Mobile Autonomous Agents
Cao, M.
Anderson, B. D. O.
Morse, A. S.
Yu, C.
47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, : 1187 - 1192
[2] Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents
Atta, Debabrata
Subudhi, Bidyadhar
Gupta, Madan M.
JOURNAL OF ROBOTICS, 2010, 2010
[3] Distributed formation control for group of mobile autonomous agents
Gao, Lixin
Hong, Yiguang
Cheng, Daizhau
DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS, 2006, 13 : 1063 - 1067
[4] Distributed Control for Minimal Rigid Formation of Multiple Mobile Autonomous Agents
He, Fenghua
Wang, Ye
Wang, Long
Zhang, Peng
Yao, Yu
Chen, Weishan
2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 6779 - 6784
[5] A new relation matrix algorithm for autonomous agents coalition formation
Kijthaweesinpoon, T
Zhou, PL
EEE '05: PROCEEDINGS OF THE 2005 INTERNATIONAL CONFERENCE ON E-BUSINESS, ENTERPRISE INFORMATION SYSTEMS, E-GOVERNMENT, AND OUTSOURCING, 2005, : 219 - 225
[6] Controlling a triangular formation of mobile autonomous agents
Cao, M.
Morse, A. S.
Yu, C.
Anderson, B. D. O.
Dasgupta, S.
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, : 4587 - +
[7] Distributed formation control of mobile autonomous agents using relative position measurements
He, Fenghua
Wang, Ye
Yao, Yu
Wang, Long
Chen, Weishan
IET CONTROL THEORY AND APPLICATIONS, 2013, 7 (11): : 1540 - 1552
[8] Formation control using replicator-mutator dynamics for multiple mobile autonomous agents
Guzman-Hernandez, Sandra
Mojica-Nava, Eduardo
NEUROCOMPUTING, 2016, 172 : 337 - 344
[9] MAINTAINING A DIRECTED, TRIANGULAR FORMATION OF MOBILE AUTONOMOUS AGENTS
Cao, M.
Morse, A. S.
Yu, C.
Anderson, B. D. O.
Dasgupta, S.
COMMUNICATIONS IN INFORMATION AND SYSTEMS, 2011, 11 (01) : 1 - 16
[10] Towards autonomous motion control in minimally invasive robotic surgery
Prendergast, J. Micah
Rentschler, Mark E.
EXPERT REVIEW OF MEDICAL DEVICES, 2016, 13 (08) : 741 - 748

← 1 2 3 4 5 →