Deployment of an Arbitrary Distribution of a Multi-Agent System With Finite Size on a Desired Formation

2016 ◽  
Author(s):  
Hossein Rastgoftar ◽  
Ella M. Atkins
Keyword(s):  
Collision Avoidance ◽  
Finite Size ◽  
Arbitrary Distribution ◽  
Multi Agent System ◽  
Agent System ◽  
Local Communication ◽  
One Dimensional ◽  
System Evolution ◽  
Multi Agent ◽  
Motion Problems

This paper considers the problem of deploying an arbitrary multi-agent system in a desired formation over an n-dimensional motion space. Each agent is considered to be a ball and collision avoidance is addressed. System evolution in ℝn is decomposed into n one dimensional motion problems, where evolution of the agents qth (q = 1, 2, 3) components are independently guided by two q-leaders. The remaining agents are considered q-followers, updating the qth component of their positions by local interactions with two neighboring q-agents. Communications among the q-agents are weighted by values consistent with the qth position components of agents in the desired configuration. This paper shows how specifying certain constraints on q-leader motion can address the problem of inter-agent collision avoidance when followers acquire their desired positions only by local communication.

Evolution of Multi Agent Systems Under a New Communication Topology

2014 ◽  
Author(s):  
Hossein Rastgoftar ◽  
Suhada Jayasuriya
Keyword(s):  
Specific Class ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Local Communication ◽  
Agent Systems ◽  
Initial Volume ◽  
Communication Topology ◽  
Multi Agent ◽  
Double Integrator

In this paper, a multi agent system (MAS) is considered as particles of a continuum deforming under a specific class of homeomorphic mappings, called a homogenous transformation. We have recently showed how a desired homogenous mapping of the MAS in a n–D space can be prescribed by transient positions of n + 1 leaders placed at the vertices of a n–D polytope, called leading polytope [1–9]. In this article, we first minimize the acceleration norm with (i) initial and final positions of the leaders known and (ii) leaders (located at the vertices of the leading polytope) are constrained to move in such a way that the initial volume of the leading polytope is preserved during evolution. The followers learn the leader-determined homogenous map through local communication with each follower modeled as a double integrator. Proposed is a communication topology that requires every follower agent to update its position based on communication with n + 1 local agents. The weights of communication are uniquely specified by the initial positions of the agents. Simulation of a MAS moving in a plane validates the proposed communication topology.

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