Inverse agreement protocols with application to distributed multi-agent dispersion

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:30:57Z
dc.date.available	2014-03-01T01:30:57Z
dc.date.issued	2009	en
dc.identifier.issn	0018-9286	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19687
dc.subject	Cooperative control	en
dc.subject	Distributed multi-agents systems	en
dc.subject	Swarm dispersion	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.other	Control theory	en
dc.subject.other	Closed-loop systems	en
dc.subject.other	Control designs	en
dc.subject.other	Control laws	en
dc.subject.other	Cooperative control	en
dc.subject.other	Distributed multi-agents systems	en
dc.subject.other	Lower bounds	en
dc.subject.other	Minimum distances	en
dc.subject.other	Multi agents	en
dc.subject.other	Sensing radius	en
dc.subject.other	Swarm dispersion	en
dc.subject.other	Team members	en
dc.subject.other	Workspace boundaries	en
dc.subject.other	Agents	en
dc.title	Inverse agreement protocols with application to distributed multi-agent dispersion	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TAC.2008.2011009	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TAC.2008.2011009	en
heal.language	English	en
heal.publicationDate	2009	en
heal.abstract	We propose a distributed inverse agreement control law for multiple kinematic agents that forces the team members to disperse in the workspace. Both the cases of an unbounded and a circular, bounded workspace are considered. In the first case, we show that the closed-loop system reaches a configuration in which the minimum distance between any pair of agents is larger than a specific lower bound. It is proved that this lower bound coincides with the agents' sensing radius. In the case of a bounded circular workspace, the control law is redefined to force the agents to remain within the workspace boundary. Moreover the proposed control design guarantees collision avoidance between the team members in all cases. The results are supported through relevant computer simulations. © 2009 IEEE.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Transactions on Automatic Control	en
dc.identifier.doi	10.1109/TAC.2008.2011009	en
dc.identifier.isi	ISI:000264397200028	en
dc.identifier.volume	54	en
dc.identifier.issue	3	en
dc.identifier.spage	657	en
dc.identifier.epage	663	en