Combined Flocking and Distance-Based Shape Control of Multi-Agent Formations

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Deghat, Mohammad; Anderson, Brian; Lin, Zhiyun


2016


Journal Article


IEEE Transactions on Automatic Control


61


7


1824-1837


Steepest descent control laws can be used for formation shape control based on specified inter-agent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This work shows how the two concepts of formation shape control and flocking behavior can be combined when one changes from an agent with single integration to one with double integration.


Nicta; Data61


https://doi.org/10.1109/TAC.2015.2480217


English


nicta:8338


Deghat, Mohammad; Anderson, Brian; Lin, Zhiyun. Combined Flocking and Distance-Based Shape Control of Multi-Agent Formations. IEEE Transactions on Automatic Control. 2016; 61(7):1824-1837. <a href="https://doi.org/10.1109/TAC.2015.2480217" target="_blank">https://doi.org/10.1109/TAC.2015.2480217</a>



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