Distributed coordination control of multiagent systems while preserving connectedness

被引：604

作者：

Ji, Meng ^{[1
]}

Egerstedt, Magnus ^{[1
]}

机构：

[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30032 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2007年 / 23卷 / 04期

关键词：

connected graphs; formation control; graph Laplacian; multiagent coordination;

D O I：

10.1109/TRO.2007.900638

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper addresses the connectedness issue in multiagent coordination, i.e., the problem of ensuring that a group of mobile agents stays connected while achieving some performance objective. In particular, we study the rendezvous and the formation control problems over dynamic interaction graphs, and by adding appropriate weights to the edges in the graphs, we guarantee that the graphs stay connected.

引用

页码：693 / 703

页数：11

共 39 条

[11] Control of mobile platforms using a virtual vehicle approach
Egerstedt, M
Hu, X
Stotsky, A
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2001, 46 (11) : 1777 - 1782
[12] EREN T, P 2002 IFAC C, P2752
[13] Fax J.A., 2002, P 15 IFAC C, P283
[14] Information flow and cooperative control of vehicle formations
Fax, JA
Murray, RM
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) : 1465 - 1476
[15] Ferrari-Trecate G, 2006, LECT NOTES COMPUT SC, V3927, P212
[16] Analysis of coordination in multi-agent systems through partial difference equations
Ferrari-Trecate, G.
Buffa, A.
Gati, M.
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2006, 51 (06) : 1058 - 1063
[17] Godsil C., 2001, ALGEBRAIC GRAPH THEO
[18] Jadbabaie A, 2004, P AMER CONTR CONF, P4296
[19] Coordination of groups of mobile autonomous agents using nearest neighbor rules
Jadbabaie, A
Lin, J
Morse, AS
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) : 988 - 1001
[20] A decentralized approach to formation maneuvers
Lawton, JRT
Beard, RW
Young, BJ
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (06): : 933 - 941

← 1 2 3 4 →