Flocking control of multi-agent systems with application to nonholonomic multi-robots

Qin Li; Zhong-Ping Jiang

Kybernetika (2009)

  • Volume: 45, Issue: 1, page 84-100
  • ISSN: 0023-5954

Abstract

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In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or, more generally, the moving reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a decentralized flocking controller for the case where the set of AAs is fixed. Some results on the velocity consensus, collision avoidance, group configuration and robustness are proposed. Further, we apply the proposed controller to the observer based flocking control of a team of nonholonomic mobile robots.

How to cite

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Li, Qin, and Jiang, Zhong-Ping. "Flocking control of multi-agent systems with application to nonholonomic multi-robots." Kybernetika 45.1 (2009): 84-100. <http://eudml.org/doc/37656>.

@article{Li2009,
abstract = {In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or, more generally, the moving reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a decentralized flocking controller for the case where the set of AAs is fixed. Some results on the velocity consensus, collision avoidance, group configuration and robustness are proposed. Further, we apply the proposed controller to the observer based flocking control of a team of nonholonomic mobile robots.},
author = {Li, Qin, Jiang, Zhong-Ping},
journal = {Kybernetika},
keywords = {multi-agent systems; flocking control; nonholonomic mobile robots; decentralized control; multi-agent systems; flocking control; nonholonomic mobile robots; decentralized control},
language = {eng},
number = {1},
pages = {84-100},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Flocking control of multi-agent systems with application to nonholonomic multi-robots},
url = {http://eudml.org/doc/37656},
volume = {45},
year = {2009},
}

TY - JOUR
AU - Li, Qin
AU - Jiang, Zhong-Ping
TI - Flocking control of multi-agent systems with application to nonholonomic multi-robots
JO - Kybernetika
PY - 2009
PB - Institute of Information Theory and Automation AS CR
VL - 45
IS - 1
SP - 84
EP - 100
AB - In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or, more generally, the moving reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a decentralized flocking controller for the case where the set of AAs is fixed. Some results on the velocity consensus, collision avoidance, group configuration and robustness are proposed. Further, we apply the proposed controller to the observer based flocking control of a team of nonholonomic mobile robots.
LA - eng
KW - multi-agent systems; flocking control; nonholonomic mobile robots; decentralized control; multi-agent systems; flocking control; nonholonomic mobile robots; decentralized control
UR - http://eudml.org/doc/37656
ER -

References

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  8. Virtual leaders, artificial potentials and coordinated control of groups, In: Proc. IEEE Conference on Decision and Control, 2001, pp. 2968–2973. 
  9. Decentralized Control Strategies for Connectivity Guaranteed Tracking of Multi-Agent Systems, In: 7th World Congress. Intelligent Control and Automation, 2008, pp. 323–328. 
  10. Trajectory Tracking for Unicycle-type and Wwo-steering-wheels Mobile Robots, Technical Report 2097, INRIA, 1993. 
  11. Flocking for multi-agent dynamic systems: algorithms and theory, IEEE Trans. Automat. Control 51 (2006), 3, 401–420. MR2205679
  12. Distributed multi-vehicle coordinated control via local information exchange, Internat. J. Robust and Nonlinear Control 17 (2007), 10–11, 1002–1033. MR2333296
  13. Flocking in fixed and switching networks, IEEE Trans. Automat. Control 52 (2007), 5, 863–868. MR2324246

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