A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:27:39Z
dc.date.available	2014-03-01T01:27:39Z
dc.date.issued	2008	en
dc.identifier.issn	0005-1098	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18523
dc.subject	Autonomous systems	en
dc.subject	Decentralized control	en
dc.subject	Formation control	en
dc.subject	Multi-agent systems	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.other	Agents	en
dc.subject.other	Kinematics	en
dc.subject.other	State space methods	en
dc.subject.other	Vectors	en
dc.subject.other	Analytic expressions	en
dc.subject.other	Autonomous systems	en
dc.subject.other	Control strategies	en
dc.subject.other	Decentralized control	en
dc.subject.other	Formation control	en
dc.subject.other	Non-holonomic	en
dc.subject.other	State spaces	en
dc.subject.other	Steady states	en
dc.subject.other	Velocity vectors	en
dc.subject.other	Multi agent systems	en
dc.title	A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.automatica.2008.03.013	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.automatica.2008.03.013	en
heal.language	English	en
heal.publicationDate	2008	en
heal.abstract	In this paper, a feedback control strategy that achieves convergence of a multi-agent system to a desired formation configuration is proposed for both the cases of agents with single integrator and nonholonomic unicycle-type kinematics. When inter-agent objectives that specify the desired formation cannot occur simultaneously in the state space the desired formation is infeasible. it is shown that under certain assumptions, formation infeasibility forces the agents' velocity vectors to a common value at steady state. This provides a connection between formation infeasibility and flocking behavior for the multi-agent system. We finally also obtain an analytic expression of the common velocity vector in the case of formation infeasibility. (C) 2008 Elsevier Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Automatica	en
dc.identifier.doi	10.1016/j.automatica.2008.03.013	en
dc.identifier.isi	ISI:000260728400023	en
dc.identifier.volume	44	en
dc.identifier.issue	10	en
dc.identifier.spage	2648	en
dc.identifier.epage	2654	en