Connectivity guaranteed migration and tracking of multi-agent flocks

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we study the control strategy for connectivity guaranteed migration and trajectory tracking for multi-agent groups using artificial potential field (APF) based approach. Some agents, called active agents (AAs), that are attracted by the reference point (modeled as the virtual leader) lead the rest of the group to perform the tasks. An AA switching rule and the coupled flocking controller are proposed to realize the velocity consensus, inter-agent collision avoidance and joint connectivity of the group. Further, we show a geometric characterization and a stronger connectivity result of the group by the proposed controller under an additional assumption.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Pages141-146
Number of pages6
DOIs
StatePublished - 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Other

Other2008 American Control Conference, ACC
CountryUnited States
CitySeattle, WA
Period6/11/086/13/08

Fingerprint

Controllers
Collision avoidance
Trajectories

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Li, Q., & Jiang, Z-P. (2008). Connectivity guaranteed migration and tracking of multi-agent flocks. In 2008 American Control Conference, ACC (pp. 141-146). [4586481] https://doi.org/10.1109/ACC.2008.4586481

Connectivity guaranteed migration and tracking of multi-agent flocks. / Li, Qin; Jiang, Zhong-Ping.

2008 American Control Conference, ACC. 2008. p. 141-146 4586481.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Li, Q & Jiang, Z-P 2008, Connectivity guaranteed migration and tracking of multi-agent flocks. in 2008 American Control Conference, ACC., 4586481, pp. 141-146, 2008 American Control Conference, ACC, Seattle, WA, United States, 6/11/08. https://doi.org/10.1109/ACC.2008.4586481
Li, Qin ; Jiang, Zhong-Ping. / Connectivity guaranteed migration and tracking of multi-agent flocks. 2008 American Control Conference, ACC. 2008. pp. 141-146
@inproceedings{d3cfd4713d0244e2b17284a9ec3c1039,
title = "Connectivity guaranteed migration and tracking of multi-agent flocks",
abstract = "In this paper, we study the control strategy for connectivity guaranteed migration and trajectory tracking for multi-agent groups using artificial potential field (APF) based approach. Some agents, called active agents (AAs), that are attracted by the reference point (modeled as the virtual leader) lead the rest of the group to perform the tasks. An AA switching rule and the coupled flocking controller are proposed to realize the velocity consensus, inter-agent collision avoidance and joint connectivity of the group. Further, we show a geometric characterization and a stronger connectivity result of the group by the proposed controller under an additional assumption.",
author = "Qin Li and Zhong-Ping Jiang",
year = "2008",
doi = "10.1109/ACC.2008.4586481",
language = "English (US)",
isbn = "9781424420797",
pages = "141--146",
booktitle = "2008 American Control Conference, ACC",

}

TY - GEN

T1 - Connectivity guaranteed migration and tracking of multi-agent flocks

AU - Li, Qin

AU - Jiang, Zhong-Ping

PY - 2008

Y1 - 2008

N2 - In this paper, we study the control strategy for connectivity guaranteed migration and trajectory tracking for multi-agent groups using artificial potential field (APF) based approach. Some agents, called active agents (AAs), that are attracted by the reference point (modeled as the virtual leader) lead the rest of the group to perform the tasks. An AA switching rule and the coupled flocking controller are proposed to realize the velocity consensus, inter-agent collision avoidance and joint connectivity of the group. Further, we show a geometric characterization and a stronger connectivity result of the group by the proposed controller under an additional assumption.

AB - In this paper, we study the control strategy for connectivity guaranteed migration and trajectory tracking for multi-agent groups using artificial potential field (APF) based approach. Some agents, called active agents (AAs), that are attracted by the reference point (modeled as the virtual leader) lead the rest of the group to perform the tasks. An AA switching rule and the coupled flocking controller are proposed to realize the velocity consensus, inter-agent collision avoidance and joint connectivity of the group. Further, we show a geometric characterization and a stronger connectivity result of the group by the proposed controller under an additional assumption.

UR - http://www.scopus.com/inward/record.url?scp=52449134825&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=52449134825&partnerID=8YFLogxK

U2 - 10.1109/ACC.2008.4586481

DO - 10.1109/ACC.2008.4586481

M3 - Conference contribution

SN - 9781424420797

SP - 141

EP - 146

BT - 2008 American Control Conference, ACC

ER -