TY - GEN
T1 - Connectivity guaranteed migration and tracking of multi-agent flocks
AU - Li, Qin
AU - Jiang, Zhong Ping
PY - 2008
Y1 - 2008
N2 - In this paper, we study the control strategy for connectivity guaranteed migration and trajectory tracking for multi-agent groups using artificial potential field (APF) based approach. Some agents, called active agents (AAs), that are attracted by the reference point (modeled as the virtual leader) lead the rest of the group to perform the tasks. An AA switching rule and the coupled flocking controller are proposed to realize the velocity consensus, inter-agent collision avoidance and joint connectivity of the group. Further, we show a geometric characterization and a stronger connectivity result of the group by the proposed controller under an additional assumption.
AB - In this paper, we study the control strategy for connectivity guaranteed migration and trajectory tracking for multi-agent groups using artificial potential field (APF) based approach. Some agents, called active agents (AAs), that are attracted by the reference point (modeled as the virtual leader) lead the rest of the group to perform the tasks. An AA switching rule and the coupled flocking controller are proposed to realize the velocity consensus, inter-agent collision avoidance and joint connectivity of the group. Further, we show a geometric characterization and a stronger connectivity result of the group by the proposed controller under an additional assumption.
UR - http://www.scopus.com/inward/record.url?scp=52449134825&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449134825&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4586481
DO - 10.1109/ACC.2008.4586481
M3 - Conference contribution
AN - SCOPUS:52449134825
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 141
EP - 146
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -