Algorithms and experiments on flocking of multiagents in a bounded space

Title: Algorithms and experiments on flocking of multiagents in a bounded space
Creator: Chen, Zhiyong; Zhang, Hai-Tao; Fan, Ming-Can; Wang, Dan; Li, Dinggen
Relation: ARC.DP130103039
Relation: IEEE Transactions on Control Systems Technology Vol. 22, Issue 4, p. 1544-1549
Publisher Link: http://dx.doi.org/10.1109/TCST.2013.2279166
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2014
Description: In most scenarios encountered in both natural systems and engineering applications, collective motions are always confined in a bounded space. The conventional flocking formulation with velocity consensus does not apply in these scenarios as agents with a constant velocity that unavoidably move out of any bounded space. In this brief, the conventional flocking formulation and algorithms are generalized to address the issues caused by bouncing boundaries of a bounded space. In addition, the theoretical design was successfully implemented in a group of real robots such that it experimentally achieved a desired flock in a bounded space.
Subject: collective motion; consensus; cooperative control; multiagent systems; nonholonomic vehicles
Identifier: http://hdl.handle.net/1959.13/1297161
Identifier: uon:19385
Identifier: ISSN:1063-6536
Language: eng
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