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Erschienen in:
2016 | OriginalPaper | Buchkapitel
6. Deployment of a Multi-Agent System on a Desired Formation
verfasst von : Hossein Rastgoftar
Erschienen in: Continuum Deformation of Multi-Agent Systems
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Abstract
In this chapter, a decentralized control approach for deployment of an arbitrary distribution of a multi-agent system (MAS) on a desired formation in \(\mathbb{R}^{n}\) (n = 1, 2, 3) is proposed, where avoidance of interagent collision is addressed. For this purpose, the motion of an MAS in \(\mathbb{R}^{n}\) is decoupled into n separate 1-D motion problems. For evolution of the q
th
(q = 1, 2, 3) components of the agents’ positions, two q-leaders are considered, where they guide the q
th
components of the MAS evolution. The remaining agents are considered as q-followers, where they update the q
th
components of their positions through local communication with the communication weights that are consistent with the q
th
components of the agents’ positions in the final configuration.