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.

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.

scholarly journals Formation Control of Multi-Agent Systems with Region Constraint

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-6 ◽  
Author(s):  
Zhengquan Yang ◽  
Qing Zhang ◽  
Zengqiang Chen
Keyword(s):  
Formation Control ◽  
Convex Set ◽  
Local Information ◽  
Control Law ◽  
Multi Agent Systems ◽  
Numerical Examples ◽  
Agent Systems ◽  
Multi Agent ◽  
Theoretical Results ◽  
Multi Agents

In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.

scholarly journals Observer-Based Distributed Fault Detection for Heterogeneous Multi-Agent Systems

2020 ◽  
Vol 10 (21) ◽  
pp. 7466
Author(s):  
Wenhao Jia ◽  
Jinzhi Wang
Keyword(s):  
Fault Detection ◽  
Distributed Control ◽  
Control Law ◽  
Multi Agent Systems ◽  
State Information ◽  
Agent Systems ◽  
Multi Agent ◽  
Distributed Fault Detection ◽  
Measurement Output ◽  
Cooperative Output Regulation

This paper solves the distributed fault detection (FD) problem for heterogeneous multi-agent systems (MAS). For a heterogeneous MAS, we adopt a distributed control law to realise cooperative output regulation (COR) when no fault occurs in the MAS, and propose a state-feedback-based FD scheme, where the adopted distributed control law and proposed FD scheme all utilise state information. Furthermore, we consider the condition that state information is unmeasurable, the output-feedback-based distributed FD scheme is proposed, and the adopted distributed control law also utilises measurement output. Finally, two numerical examples are utilised to verify that the proposed distributed FD schemes could locate and remove the faulty agent in time.

New Approach to Optimize Cooperation Mobile Robots for Ideal Coverage with an Architecture Designed with Multi-Agent Systems

2017 ◽  
Vol 19 (4) ◽  
pp. 49-65
Author(s):  
Mami Mohammed Amine ◽  
Khelfi Mohamed Fayçal ◽  
Zineb Laouici ◽  
Benyettou Noria
Keyword(s):  
Mobile Robots ◽  
Mobile Robotics ◽  
Optimal Solutions ◽  
Multi Agent Systems ◽  
Robot System ◽  
New Approach ◽  
Agent Systems ◽  
The Past ◽  
Multi Agent ◽  
Uniform Manner

Mobile Robotics have taken an ever increasing role in everyday life in the past few years. The main objective often reflected in research is to try to have an optimal cooperation between the different robots to achieve a given objective. This cooperation allows one to have optimal solutions for sharing and resolving conflicts. This article proposes a solution to solve the problem of the coverage in environment with obstacles and the cooperation between several mobile robots. The authors developed a heuristic algorithm to optimize the coverage in a multi-robot system, while maintaining the connection between the robots. The proposed algorithm is based on the propagation of the robots as a function of the expansion of a wave in a uniform manner. The authors also integrate a self-reorientation approach to failure if a robot becomes out of race. Finally, this approach is modelled with the ADMs.

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