A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems

被引：139

作者：

Dimarogonas, Dimos V. ^{[1
]}

Kyriakopoulos, Kostas J. ^{[2
]}

机构：

[1] Royal Inst Technol, Sch Elect Engn, Automat Control Lob, SE-10044 Stockholm, Sweden

[2] Natl Tech Univ Athens, Control Syst Lab, Zografos 15780, Greece

来源：

AUTOMATICA | 2008年 / 44卷 / 10期

关键词：

Decentralized control; Autonomous systems; Formation control; Multi-agent systems;

D O I：

10.1016/j.automatica.2008.03.013

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a feedback control strategy that achieves convergence of a multi-agent system to a desired formation configuration is proposed for both the cases of agents with single integrator and nonholonomic unicycle-type kinematics. 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. We finally also obtain an analytic expression of the common velocity vector in the case of formation infeasibility. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：2648 / 2654

页数：7