scholarly journals Non-Collision Conditions in Multi-Agent Virtual Leader-Based Formation Control

10.5772/50722 ◽  
2012 ◽  
Vol 9 (4) ◽  
pp. 100 ◽  
Author(s):  
E.G. Hernandez-Martinez ◽  
E. Aranda Bricaire
Keyword(s):  
Formation Control ◽  
Multi Agent ◽  
Virtual Leader

Formation Control and Obstacle Avoidance for Multi-Agent Systems Based on Virtual Leader-Follower Strategy

2017 ◽  
Vol 16 (03) ◽  
pp. 865-880 ◽  
Author(s):  
Jing Yan ◽  
Xinping Guan ◽  
Xiaoyuan Luo ◽  
Cailian Chen
Keyword(s):  
Obstacle Avoidance ◽  
Formation Control ◽  
Rabbit Model ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Evasion Game ◽  
Multi Agent ◽  
Mobile Target ◽  
Virtual Leader ◽  
Avoidance Problem

This paper investigates the formation control and obstacle avoidance problem for multi-agent systems (MASs), which aims to coordinate the pursuer agents to capture a mobile target. The target appears at a location randomly and its movement obeys Reactive Rabbit Model. The pursuers and the mobile target can be modeled as a Pursuit-Evasion Game (PEG). During the movement, not all of the pursuer agents can obtain the real-time information of the target. Moreover, the obstacle avoidance makes the formation of pursuer agents a big challenge to encircle the mobile target. In order to tackle these two problems, the formation control and obstacle avoidance algorithm is presented in this paper based on a novel virtual leader-follower strategy and potential functions. The obstacle avoidance problem can then be solved by constructing a velocity potential. The numerical analysis and simulation demonstrate the effectiveness of the proposed algorithm.

Fast Finite-Time Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 596 ◽  
pp. 552-559 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
First Order ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing first-order multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that first-order multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Furthermore, theoretical analysis and numerical simulations show that compared with the traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of achieving the finite-time consensus tracking.

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