Controlling a triangular flexible formation of autonomous agents.

Hector Garcia de Marina, Zhiyong Sun, Ming Cao, Brian D.O. Anderson

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

Resumé

In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the advantages of both position-and distance-based gradient descent control laws. For example, only two pairs of neighboring agents need to be controlled, agents can work in their own local frame of coordinates and the orientation of the formation with respect to a global frame of coordinates is not prescribed. We first present a novel technique based on adding artificial biases to neighboring agents’ range sensors such that their eventual positions correspond to a collinear configuration. Right after, a small modification in the bias terms by introducing a prescribed rotation matrix will allow the control of the bearing of the neighboring agents.

OriginalsprogEngelsk
TidsskriftIFAC-PapersOnLine
Vol/bind50
Udgave nummer1
Sider (fra-til)594-600
ISSN2405-8963
DOI
StatusUdgivet - 1. jul. 2017
Udgivet eksterntJa

Fingeraftryk

Autonomous agents
Bearings (structural)
Controllers
Sensors

Citer dette

de Marina, Hector Garcia ; Sun, Zhiyong ; Cao, Ming ; Anderson, Brian D.O. / Controlling a triangular flexible formation of autonomous agents. I: IFAC-PapersOnLine. 2017 ; Bind 50, Nr. 1. s. 594-600.
@article{ece2fcd380ea49f1916c8e7651e4e9c1,
title = "Controlling a triangular flexible formation of autonomous agents.",
abstract = "In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the advantages of both position-and distance-based gradient descent control laws. For example, only two pairs of neighboring agents need to be controlled, agents can work in their own local frame of coordinates and the orientation of the formation with respect to a global frame of coordinates is not prescribed. We first present a novel technique based on adding artificial biases to neighboring agents’ range sensors such that their eventual positions correspond to a collinear configuration. Right after, a small modification in the bias terms by introducing a prescribed rotation matrix will allow the control of the bearing of the neighboring agents.",
keywords = "Distributed control, Formation control, Multi-agent system",
author = "{de Marina}, {Hector Garcia} and Zhiyong Sun and Ming Cao and Anderson, {Brian D.O.}",
year = "2017",
month = "7",
day = "1",
doi = "10.1016/j.ifacol.2017.08.092",
language = "English",
volume = "50",
pages = "594--600",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "Elsevier",
number = "1",

}

Controlling a triangular flexible formation of autonomous agents. / de Marina, Hector Garcia; Sun, Zhiyong; Cao, Ming; Anderson, Brian D.O.

I: IFAC-PapersOnLine, Bind 50, Nr. 1, 01.07.2017, s. 594-600.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

T1 - Controlling a triangular flexible formation of autonomous agents.

AU - de Marina, Hector Garcia

AU - Sun, Zhiyong

AU - Cao, Ming

AU - Anderson, Brian D.O.

PY - 2017/7/1

Y1 - 2017/7/1

N2 - In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the advantages of both position-and distance-based gradient descent control laws. For example, only two pairs of neighboring agents need to be controlled, agents can work in their own local frame of coordinates and the orientation of the formation with respect to a global frame of coordinates is not prescribed. We first present a novel technique based on adding artificial biases to neighboring agents’ range sensors such that their eventual positions correspond to a collinear configuration. Right after, a small modification in the bias terms by introducing a prescribed rotation matrix will allow the control of the bearing of the neighboring agents.

AB - In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the advantages of both position-and distance-based gradient descent control laws. For example, only two pairs of neighboring agents need to be controlled, agents can work in their own local frame of coordinates and the orientation of the formation with respect to a global frame of coordinates is not prescribed. We first present a novel technique based on adding artificial biases to neighboring agents’ range sensors such that their eventual positions correspond to a collinear configuration. Right after, a small modification in the bias terms by introducing a prescribed rotation matrix will allow the control of the bearing of the neighboring agents.

KW - Distributed control

KW - Formation control

KW - Multi-agent system

U2 - 10.1016/j.ifacol.2017.08.092

DO - 10.1016/j.ifacol.2017.08.092

M3 - Journal article

VL - 50

SP - 594

EP - 600

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 1

ER -