Inverse agreement protocols with application to distributed multi-agent dispersion

Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/TAC.2008.2011009

Inverse agreement protocols with application to distributed multi-agent dispersion

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

We propose a distributed inverse agreement control law for multiple kinematic agents that forces the team members to disperse in the workspace. Both the cases of an unbounded and a circular, 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 circular workspace, the control law is redefined to force the agents to remain within the workspace boundary. Moreover the proposed control design guarantees collision avoidance between the team members in all cases. The results are supported through relevant computer simulations.

Original language	English (US)
Pages (from-to)	657-663
Number of pages	7
Journal	IEEE Transactions on Automatic Control
Volume	54
Issue number	3
DOIs	https://doi.org/10.1109/TAC.2008.2011009
State	Published - 2009

Keywords

Cooperative control
Distributed multi-agents systems
Swarm dispersion

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TAC.2008.2011009

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AB - We propose a distributed inverse agreement control law for multiple kinematic agents that forces the team members to disperse in the workspace. Both the cases of an unbounded and a circular, 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 circular workspace, the control law is redefined to force the agents to remain within the workspace boundary. Moreover the proposed control design guarantees collision avoidance between the team members in all cases. The results are supported through relevant computer simulations.

KW - Cooperative control

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Inverse agreement protocols with application to distributed multi-agent dispersion

Abstract

Keywords

ASJC Scopus subject areas

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