Mathematics – Statistics Theory
Scientific paper
2005-02-16
Mathematics
Statistics Theory
Scientific paper
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces. By using the control laws, all agent velocities asymptotically approach the desired velocity, collisions can be avoided between agents, and the final tight formation minimizes all agent potentials. Moreover, we prove that the velocity of the center of mass is always equal to the desired velocity or exponentially converges to the desired value. Furthermore, we study the motion of the group when the velocity damping is taken into account. In this case, we can properly modify the control laws to generate the same stable flocking motion. Finally, for the case that not all agents know the desired final velocity, we show that the desired flocking motion can still be obtained. Numerical simulations are worked out to illustrate our theoretical results.
No associations
LandOfFree
Flocking Control of Groups of Mobile Autonomous Agents via Local Feedback does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.
If you have personal experience with Flocking Control of Groups of Mobile Autonomous Agents via Local Feedback, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Flocking Control of Groups of Mobile Autonomous Agents via Local Feedback will most certainly appreciate the feedback.
Profile ID: LFWR-SCP-O-84099