|
| | | | |
| | | |
| Stat |
Members: 3645
Articles: 2'506'133
Articles rated: 2609
26 April 2024 |
|
| | | | |
|
Article overview
| |
|
|
Flocking Control of Groups of Mobile Autonomous Agents via Local Feedback | | Long Wang
; | | Date: |
16 Feb 2005 | | Subject: | Statistics; Dynamical Systems MSC-class: 93 | math.ST math.DS | | Abstract: | 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. | | Source: | arXiv, math.ST/0502342 | | Services: | Forum | Review | PDF | Favorites | |
|
|
No review found.
Did you like this article?
Note: answers to reviews or questions about the article must be posted in the forum section.
Authors are not allowed to review their own article. They can use the forum section.
browser Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)
|
| |
|
|
|
|
News, job offers and information for researchers and scientists:
| |
REGISTER