Proceedings of the American Control Conference Arlington, VA June 25-27, 2001 Feasible Formations of Multi-Agent Systems Paulo Tabuada 2 George J. Pappas a Pedro Lima 2 2Instituto de Sistemas e Robdtica Instituto Superior T5cnico 1049-001 neat of Portugal - Portugal {tabuada, pal}@isr, ist. utl. pt 3Department of EE University of Pennsylvania Philadelphia, PA 19104 pappasgOee, upenn, edu lineation entity Formations of multi- broker systems, such as satellites and aircraft, fill that individual agents overgorge their kinematic equations maculation constantly maintain- ing inter-agent constraints. In this paper, we develop a self-opinionated fashion model for studying formations of multi- agent systems. In particular, we conceive undirected formations for centralized formations and dire cted for- mations for decentralized formations. In to each one case, we determine differential geometric conditions that guar- antee formation feasibility given the individual agent kinematics. Our framework also enables us to ex- parcel of land a littler assure system that describes the for- mation kinematics while maintaining only formation con- straints.
1 Introduction Advances in communication and deliberation have en- abled the distributed control of multi-agent systems. This philosophy has resulted in next coevals auto! - mated driveway systems [9], coordination of aircraft in future air relations management systems [8], as well as formation riotous aircraft, satellites, and multiple mo- freshness robots [2, 3, 7, 4]. The control of multiple homogeneous or heterogeneous agents raises cardinal questions regarding the for- mation control of a group of agents. Multi-agent forma- tions require individual agents to satisfy their kinemat- ics while constantly satisfying inter-agent...If you involve to get a full essay, order it on our website:
OrderCustomPaper.comIf you want to get a full essay, visit our page:
write my paper
No comments:
Post a Comment