Multi-vehicle flocking: Scalability of cooperative control algorithms using pairwise potentials

被引：111

作者：

Chuang, Yao-Li ^{[1
,2
]}

Huang, Yuan R. ^{[3
]}

D'Orsogna, Maria R. ^{[1
]}

Bertozzi, Andrea L. ^{[1
]}

机构：

[1] Univ Calif Los Angeles, Dept Math, Los Angeles, CA 90095 USA

[2] Duke Univ, Dept Phys, Durham, NC 27708 USA

[3] Univ Calif Los Angeles, Dept Elect Engn, Los Angeles, CA 90095 USA

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363661

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, we study cooperative control algorithms using pairwise interactions, for the purpose of controlling flocks of unmanned vehicles. An important issue is the role the potential plays in the stability and possible collapse of the group as agent number increases. We model a set of interacting Dubins vehicles with fixed turning angle and speed. We perform simulations for a large number of agents and we show experimental realizations of the model on a testbed with a small number of vehicles. In both cases, critical thresholds exist between coherent, stable, and scalable flocking and dispersed or collapsing motion of the group.

引用

页码：2292 / +

页数：3

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