Abstract
This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we generate stable flocking motion for the group using a coordination control scheme which gives rise to smooth control laws for the agents. These control laws are a combination of attractive/repulsive and alignment forces, ensuring collision avoidance and cohesion of the group and an aggregate motion along a common heading direction. In this control scheme the topology of the control interconnections is fixed and time invariant. The control policy ensures that all agents eventually align with each other and have a common heading direction while at the same time avoid collisions and group into a tight formation.
Keywords
Flocking (texture)Control theory (sociology)Double integratorTopology (electrical circuits)Decentralised systemMulti-agent systemComputer scienceMobile robotCollisionIntegratorControl (management)EngineeringRobotPhysicsArtificial intelligenceComputer network
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Publication Info
- Year
- 2004
- Type
- article
- Volume
- 2
- Pages
- 2010-2015
- Citations
- 672
- Access
- Closed
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Cite This
Herbert G. Tanner,
Ali Jadbabaie,
George J. Pappas
(2004).
Stable flocking of mobile agents. I. Fixed topology.
, 2
, 2010-2015.
https://doi.org/10.1109/cdc.2003.1272910
Identifiers
- DOI
- 10.1109/cdc.2003.1272910