Virtual leader approach to coordinated control of multiple mobile agents with asymmetric interactions

2006 ◽  
Vol 213 (1) ◽  
pp. 51-65 ◽  
Author(s):  
Hong Shi ◽  
Long Wang ◽  
Tianguang Chu
Keyword(s):  
Mobile Agents ◽  
Coordinated Control ◽  
Virtual Leader ◽  
Asymmetric Interactions ◽  
Multiple Mobile Agents

scholarly journals Flocking Control of Multiple Mobile Agents with the Rules of Avoiding Collision

2015 ◽  
Vol 2015 ◽  
pp. 1-9
Author(s):  
Hongtao Zhou ◽  
Wenfeng Zhou ◽  
Wei Zeng
Keyword(s):  
Numerical Simulations ◽  
Potential Function ◽  
Mobile Agents ◽  
Velocity Vector ◽  
Control Problems ◽  
Control Laws ◽  
Virtual Leader ◽  
Theoretical Results ◽  
Multiple Mobile Agents

This paper investigates the flocking and the coordinative control problems of multiple mobile agents with the rules of avoiding collision. We propose a set of control laws using hysteresis in adding new links and applying new potential function to guarantee that the fragmentation of the network can be avoided, under which all agents approach a common velocity vector, and asymptotically converge to a fixed value of interagent distances and collisions between agents can be avoided throughout the motion. Furthermore, we extend the flocking algorithm to solve the flocking situation of the group with a virtual leader agent. The laws can make all agents asymptotically approach the virtual leader and collisions can be avoided between agents in the motion evolution. Finally, some numerical simulations are showed to illustrate the theoretical results.

Control of Multiple Mobile Agents Via Artificial Potential Functions and Random Motion

2007 ◽  
Author(s):  
Manish Kumar ◽  
Devendra P. Garg ◽  
Randy Zachery
Keyword(s):  
Potential Function ◽  
Mobile Agents ◽  
Formation Control ◽  
Cluster Formation ◽  
Limited Range ◽  
Random Motion ◽  
Potential Functions ◽  
Random Behavior ◽  
Artificial Potential Function ◽  
Multiple Mobile Agents

This paper investigates the effectiveness of designed random behavior in cooperative formation control of multiple mobile agents. A method based on artificial potential functions provides a framework for decentralized control of their formation. However, it implies heavy communication costs. The communication requirement can be replaced by onboard sensors. The onboard sensors have limited range and provide only local information, and may result in the formation of isolated clusters. This paper proposes to introduce a component representing random motion in the artificial potential function formulation of the formation control problem. The introduction of the random behavior component results in a better chance of global cluster formation. The paper uses an agent model that includes both position and orientation, and formulates the dynamic equations to incorporate that model in artificial potential function approach. The effectiveness of the proposed method is verified via extensive simulations performed on a group of mobile agents and leaders.

A Collision Avoidance Control of Multiple Mobile Agents Based on Active Sensing

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P3-F09
Author(s):  
Takeru KANNO ◽  
Taishi MIKAMI ◽  
Yasufumi YAMADA ◽  
Mayuko IWAMOTO ◽  
Daishin UEYAMA ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Mobile Agents ◽  
Active Sensing ◽  
Collision Avoidance Control ◽  
Avoidance Control ◽  
Multiple Mobile Agents
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