An inverse agreement control strategy with application to swarm dispersion

Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2007.4434633

An inverse agreement control strategy with application to swarm dispersion

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We propose an inverse agreement control strategy for multiple kinematic agents that forces the team members to disperse in the workspace in a distributed manner. Both the cases of an unbounded and a cyclic, bounded workspace are considered. In the first case, we show that the closed loop system reaches a configuration in which the minimum distance between any pair of agents is larger than a specific lower bound. It is proved that this lower bound coincides with the agents' sensing radius. In the case of a bounded cyclic workspace, the control law is redefined in order to force the agents to remain within the workspace boundary throughout the closed loop system evolution. Moreover the proposed control design guarantees collision avoidance between the team members in both cases. The results are supported through relevant computer simulations.

Original language	English (US)
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6148-6153
Number of pages	6
ISBN (Print)	1424414989, 9781424414987
DOIs	https://doi.org/10.1109/CDC.2007.4434633
State	Published - 2007
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: Dec 12 2007 → Dec 14 2007

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	46th IEEE Conference on Decision and Control 2007, CDC
Country/Territory	United States
City	New Orleans, LA
Period	12/12/07 → 12/14/07

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2007.4434633

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Dimarogonas, D. V., & Kyriakopoulos, K. J. (2007). An inverse agreement control strategy with application to swarm dispersion. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 6148-6153). Article 4434633 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2007.4434633

An inverse agreement control strategy with application to swarm dispersion. / Dimarogonas, Dimos V.; Kyriakopoulos, Kostas J.
Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. p. 6148-6153 4434633 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dimarogonas, DV & Kyriakopoulos, KJ 2007, An inverse agreement control strategy with application to swarm dispersion. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434633, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 6148-6153, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 12/12/07. https://doi.org/10.1109/CDC.2007.4434633

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AB - We propose an inverse agreement control strategy for multiple kinematic agents that forces the team members to disperse in the workspace in a distributed manner. Both the cases of an unbounded and a cyclic, bounded workspace are considered. In the first case, we show that the closed loop system reaches a configuration in which the minimum distance between any pair of agents is larger than a specific lower bound. It is proved that this lower bound coincides with the agents' sensing radius. In the case of a bounded cyclic workspace, the control law is redefined in order to force the agents to remain within the workspace boundary throughout the closed loop system evolution. Moreover the proposed control design guarantees collision avoidance between the team members in both cases. The results are supported through relevant computer simulations.

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An inverse agreement control strategy with application to swarm dispersion

Abstract

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