2012 | OriginalPaper | Buchkapitel
On the Tight Formation for Multi-agent Dynamical Systems
verfasst von : Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu
Erschienen in: Agent and Multi-Agent Systems. Technologies and Applications
Verlag: Springer Berlin Heidelberg
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
This paper addresses the real-time control of multiple agents in the presence of disturbances and non-convex collision avoidance constraints. The goal is to guarantee the convergence towards a tight formation. A single optimal control problem is solved based on a prediction of the future evolution of the system and the resulting controller is implemented in a centralized way. At the supervision level, it is shown that the decision about which agents should take on what role in the desired tight formation is equivalent with a classical pairing (or task assignment) problem. Furthermore, the pairing is re-evaluated at each iteration. The proposed method exhibits effective performance validated through some illustrative examples.