Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior

Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2005.1582135

Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

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

Abstract

A feedback control strategy that achieves convergence of a multi-agent system to a desired formation configuration avoiding at the same time collisions is proposed. The collision avoidance objective is handled by a decentralized navigation function that vanishes when the desired formation tends to be realized. When inter-agent objectives that specify the desired formation cannot occur simultaneously in the state space the desired formation is infeasible. It is shown that under certain assumptions, formation infeasibility forces the agents velocity vectors to a common value at steady state. This provides a connection between formation infeasibility and flocking behavior for the multi-agent system.

Original language	English (US)
Title of host publication	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages	84-89
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2005.1582135
State	Published - 2005
Event	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain Duration: Dec 12 2005 → Dec 15 2005

Publication series

Name	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume	2005

Other

Other	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Country/Territory	Spain
City	Seville
Period	12/12/05 → 12/15/05

ASJC Scopus subject areas

General Engineering

Access to Document

10.1109/CDC.2005.1582135

Cite this

Dimarogonas, D. V., & Kyriakopoulos, K. J. (2005). Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 84-89). Article 1582135 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005). https://doi.org/10.1109/CDC.2005.1582135

Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior. / Dimarogonas, Dimos V.; Kyriakopoulos, Kostas J.
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 84-89 1582135 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005).

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

Dimarogonas, DV & Kyriakopoulos, KJ 2005, Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior. in Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05., 1582135, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, vol. 2005, pp. 84-89, 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, Seville, Spain, 12/12/05. https://doi.org/10.1109/CDC.2005.1582135

Dimarogonas DV, Kyriakopoulos KJ. Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 84-89. 1582135. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05). doi: 10.1109/CDC.2005.1582135

Dimarogonas, Dimos V. ; Kyriakopoulos, Kostas J. / Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. pp. 84-89 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05).

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Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior

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