scholarly journals Optimal dynamic formation control of multi-agent systems in constrained environments

Automatica ◽  
2016 ◽  
Vol 73 ◽  
pp. 169-179 ◽  
Author(s):  
Xinmiao Sun ◽  
Christos G. Cassandras
Keyword(s):  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Constrained Environments ◽  
Multi Agent ◽  
Optimal Dynamic ◽  
Dynamic Formation

Three-Dimensional Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

2015 ◽  
Vol 137 (11) ◽  
Author(s):  
Pengpeng Zhang ◽  
Marcio de Queiroz ◽  
Xiaoyu Cai
Keyword(s):  
Formation Control ◽  
Three Dimensional ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
3D Space ◽  
Multi Agent ◽  
Error Dynamics ◽  
Integrator Model ◽  
Double Integrator ◽  
Dynamic Formation

In this paper, we consider the problem of formation control of multi-agent systems in three-dimensional (3D) space, where the desired formation is dynamic. This is motivated by applications where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, interagent distance error dynamics and ensures tracking of the desired, 3D time-varying formation. Extensions to the formation maneuvering problem and double-integrator model are also discussed. The formation control is illustrated with a simulation of eight agents forming a dynamic cube.

Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

2014 ◽  
Author(s):  
Xiaoyu Cai ◽  
Marcio de Queiroz
Keyword(s):  
Graph Theory ◽  
Formation Control ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Simulation Results ◽  
Error Dynamics ◽  
Integrator Model ◽  
Dynamic Formation

In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.

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