Adaptive Spanning-tree on Changing Topologies: Towards Emergent Behaviors in Autonomous Multi-Agent Systems

2007 ◽  
Author(s):  
Henri Aguesse ◽  
Hua O. Wang ◽  
Kazuo Tanaka
Keyword(s):  
Spanning Tree ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Emergent Behaviors

Consensus Problem of Singular Multi-Agent Systems with Continuous-Time and Fixed Topology

2013 ◽  
Vol 278-280 ◽  
pp. 1687-1691
Author(s):  
Tong Qiang Jiang ◽  
Jia Wei He ◽  
Yan Ping Gao
Keyword(s):  
Continuous Time ◽  
Spanning Tree ◽  
Undirected Graph ◽  
Necessary Condition ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Fixed Topology ◽  
The Stability ◽  
Sufficient And Necessary Condition

The consensus problems of two situations for singular multi-agent systems with fixed topology are discussed: directed graph without spanning tree and the disconnected undirected graph. A sufficient and necessary condition is obtained by applying the stability theory and the system is reachable asymptotically. But for normal systems, this can’t occur in upper two situations. Finally a simulation example is provided to verify the effectiveness of our theoretical result.

Formation Maneuvering Control of Nonholonomic Multi-Agent Systems

2016 ◽  
Author(s):  
M. Khaledyan ◽  
M. de Queiroz
Keyword(s):  
Mobile Robots ◽  
Numerical Simulations ◽  
Spanning Tree ◽  
Control Law ◽  
Multi Agent Systems ◽  
Type Solution ◽  
Wheeled Mobile Robots ◽  
Kinematic Control ◽  
Agent Systems ◽  
Multi Agent

In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.

scholarly journals Consensus of Second-Order Multi-Agent Systems Without a Spanning Tree: A Sequence-Based Topology-Dependent Method

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 162209-162217
Author(s):  
Dianhao Zheng ◽  
J. Andrew Zhang ◽  
Hongbin Zhang ◽  
Wei Xing Zheng ◽  
Steven W. Su
Keyword(s):  
Spanning Tree ◽  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent
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