scholarly journals Formation Control and Collision Avoidance for Multi-Agent Systems and a Connection between Formation Infeasibility and Flocking Behavior

2006 ◽  
Author(s):  
D.V. Dimarogonas ◽  
K.J. Kyriakopoulos
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Flocking Behavior

Energy-Balanced Leader-Switching Policy for Formation Rotation Control of Multi-Agent Systems Inspired by Bird Flocks

2019 ◽  
Author(s):  
Corey Dotson ◽  
Geronimo Macias ◽  
Kooktae Lee
Keyword(s):  
Formation Control ◽  
Consensus Algorithm ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Algorithm ◽  
Multi Agent ◽  
Migrating Birds ◽  
Switching Method ◽  
Rotation Strategy ◽  
Flocking Behavior

Abstract This paper addresses an energy-balanced leader-switching policy for formation rotation control of multi-agent systems inspired by bird flocks. Birds that flock in V-formation with a leader rotation strategy are able to travel longer distances due to reduced drag and therefore less energy expenditure. This flocking behavior with a leader rotation will result in more conservation of overall energy and will be particularly beneficial to migrating birds that should fly long distances without landing. In this paper, we propose an energy-balanced leader-switching policy inspired by this bird flocking behavior in order to increase the flight range for multi-agent systems. The formation control of multi-agent systems is achieved by the consensus algorithm, which is fully decentralized through the use of information exchanges between agents. The proposed leader-switching method is not necessarily incorporated with the consensus dynamics and thus, the leader-switching algorithm can be decoupled from formation control dynamics. Therefore, the proposed method can simplify the leader-switching algorithm, making it easy to implement. Moreover, we propose the analytic flight distance based on the energy consumption model for each agent. To test the validity of the developed method, several simulation results are presented.

Adaptive leader-following formation control with collision avoidance for a class of second-order nonlinear multi-agent systems

2019 ◽  
Vol 350 ◽  
pp. 282-290 ◽  
Author(s):  
Quan Shi ◽  
Tieshan Li ◽  
Jingqi Li ◽  
C.L. Philip Chen ◽  
Yang Xiao ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

Formation control and collision avoidance for a class of multi-agent systems

2019 ◽  
Vol 356 (10) ◽  
pp. 5395-5420 ◽  
Author(s):  
Yutong Liu ◽  
Hongjun Yu ◽  
Peng Shi ◽  
Cheng-Chew Lim
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent
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