A new definition of formation with an algorithm

Abstract Abstract In this paper, we propose a new definition of formation for multi-agent systems. More precisely, we consider the kind of formation where several leading agents (called “framers”) form a desired convex shape while other agents (called “followers”) are required to be inside that shape. Under the assumption that all agents except the leading ones are controlled depending on local information, we propose an algorithm achieving the above-mentioned formation. Finally, we give a numerical example to demonstrate effectiveness of the algorithm. Copyright © 2009 IFAC

[1]  Vicsek,et al.  Novel type of phase transition in a system of self-driven particles. , 1995, Physical review letters.

[2]  Reza Olfati-Saber,et al.  Flocking for multi-agent dynamic systems: algorithms and theory , 2006, IEEE Transactions on Automatic Control.

[3]  J. A. Fax.  Optimal and Cooperative Control of Vehicle Formations , 2002 .

[4]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[5]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[6]  Craig W. Reynolds.  Flocks, herds, and schools: a distributed behavioral model , 1998 .

[7]  Guisheng Zhai,et al.  Consensus algorithms for multi-agent systems: A matrix inequality based approach , 2009, 2009 International Conference on Networking, Sensing and Control.

[8]  Richard M. Murray,et al.  INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS , 2002 .

[9]  Craig W. Reynolds.  Flocks, herds, and schools: a distributed behavioral model , 1987, SIGGRAPH.

[10]  Richard M. Murray,et al.  Recent Research in Cooperative Control of Multivehicle Systems , 2007 .

[11]  Nak Young Chong,et al.  1P2-S-028 Generation of formation for multiple autonomous mobile robots adapting to an environment(Cooperation Control of Multi Robot,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives) , 2005 .

[12]  J.K. Hedrick,et al.  An overview of emerging results in cooperative UAV control , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[13]  J. Toner,et al.  Flocks, herds, and schools: A quantitative theory of flocking , 1998, cond-mat/9804180.

[14]  Francesco Bullo,et al.  Coordination and Geometric Optimization via Distributed Dynamical Systems , 2003, SIAM J. Control. Optim..