Optimal design of cyclic pursuit weights in hierarchical multi-agent systems

2010 ◽  
Author(s):  
Tomoyuki Kogure ◽  
Hideaki Ishii
Keyword(s):  
Optimal Design ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Cyclic Pursuit ◽  
Multi Agent

A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

2017 ◽  
Vol 40 (5) ◽  
pp. 1529-1537 ◽  
Author(s):  
Muhammad Iqbal ◽  
John Leth ◽  
Trung D Ngo
Keyword(s):  
Convergence Rate ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Cyclic Pursuit ◽  
Leader Following ◽  
Multi Agent ◽  
Simulation Results ◽  
Pursuit Strategy

In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

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