scholarly journals Design of the Multi-Agent Robot Group Formation Based on Pilot Followers

2016 ◽  
Vol 9 (1) ◽  
pp. 70
Author(s):  
Haiyang Zou
Keyword(s):  
Graph Theory ◽  
Control Strategy ◽  
Formation Control ◽  
Ant Colony Algorithm ◽  
Group Formation ◽  
Font Size ◽  
Structured Design ◽  
Multi Agent ◽  
Scale Design ◽  
Robot Group

<span style="font-size: 10.5pt; font-family: 'Times New Roman','serif'; mso-bidi-font-size: 10.0pt; mso-fareast-font-family: 宋体; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA;" lang="EN-US">Some animals always keep a certain formation in flight, it plays a good role for the defense of animal predators, avoid falling behind, avoid obstacles and other aspects. Based on the the design of pilot follows formation way, this topic from the characteristics of bionics, which makes the robot population to maintain a certain formation, they complete the relatively complex tasks through mutual coordination, division and cooperation.We adopt asymmetric formation control strategy and introduce the graph theory in the topic, it has good theoretical and practical guiding significance about the application of robot in real.In the formation of scale design, We adopt hypercube structured design concept, and ant colony algorithm of sub-cube for hypercube secondary division, multi-agent robot groups has better results in all aspects of the expansion, fault tolerance and transaction complexity.</span>

A novel communication-aware formation control strategy for dynamical multi-agent systems

2015 ◽  
Vol 352 (9) ◽  
pp. 3701-3715 ◽  
Author(s):  
Heng Li ◽  
Jun Peng ◽  
Weirong Liu ◽  
Kai Gao ◽  
Zhiwu Huang
Keyword(s):  
Control Strategy ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent

Adaptive Swarm Coordination and Formation Control

2020 ◽  
pp. 2041-2075
Author(s):  
Samet Guler ◽  
Baris Fidan ◽  
Veysel Gazi
Keyword(s):  
Adaptive Control ◽  
Graph Theory ◽  
Control Theory ◽  
Formation Control ◽  
The Other ◽  
System Behavior ◽  
Swarm Dynamics ◽  
Multi Agent ◽  
Control Designs ◽  
Swarm Coordination

Swarm coordination and formation control designs focus on multi-agent dynamic system behavior and aim to achieve desired coordinated behavior or predefined geometric shape. They utilize techniques from the control theory and graph theory literature. On the other hand, adaptive control theory is concerned with uncertainties in the system dynamics, and has structured frameworks for various types of plant models. Therefore, in case there are uncertainties in the swarm dynamics, adaptive control methodologies can be utilized to achieve the desired coordinated behavior and there exist remarkable works in this direction. However, connection among swarm coordination, formation control, and adaptive control theory brings some restrictions as well as advantages. Hence adaptive swarm coordination and formation control has been developed in limited aspects. In this chapter, we review some existing works of the adaptive formation control literature along with non-adaptive ones, and discuss the advantages of application of adaptive control frameworks to swarm coordination and formation control.

Consensus Based Formation Control of Multiple Small Rotary-Wing UAVs

2011 ◽  
Author(s):  
Yaojin Xu ◽  
Long Di ◽  
YangQuan Chen
Keyword(s):  
Control Strategy ◽  
Formation Control ◽  
Algebraic Theory ◽  
Nonholonomic Constraints ◽  
Backstepping Technique ◽  
Strongly Connected ◽  
Multi Agent ◽  
Rotary Wing ◽  
Multi Uav ◽  
Stable Formation

Small unmanned aerial vehicles (UAVs) can provide facilities in various applications. Compared with single UAV system, small UAVs based cooperative UAV system can bring advantages such as higher efficiency and safety. Therefore, it is necessary to design a robust multi-agent cooperative flight controller to coordinate a group of small UAVs for stable formation flights. This paper investigates the problem of consensus-based formation control for a multi-UAV system. Firstly, We choose a simplified model with nonholonomic constraints for UAV dynamics. Secondly, using the algebraic theory and backstepping technique, we design consensus protocols for multi-UAV systems under the strongly connected topology. Then based on that, we propose a multi-UAVfromation control strategy. Finally, we extend our results to the directed topology case which is still effective by simulation.

Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

2014 ◽  
Author(s):  
Xiaoyu Cai ◽  
Marcio de Queiroz
Keyword(s):  
Graph Theory ◽  
Formation Control ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Simulation Results ◽  
Error Dynamics ◽  
Integrator Model ◽  
Dynamic Formation

In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.

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