Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:20Z
dc.date.available	2014-03-01T02:43:20Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31341
dc.subject	Collision Avoidance	en
dc.subject	Common Value	en
dc.subject	Feedback Control	en
dc.subject	Formation Control	en
dc.subject	State Space	en
dc.subject	Steady State	en
dc.subject	Multi Agent System	en
dc.subject.other	Convergence of numerical methods	en
dc.subject.other	Decentralized control	en
dc.subject.other	Feedback control	en
dc.subject.other	Multi agent systems	en
dc.subject.other	State space methods	en
dc.subject.other	Vectors	en
dc.subject.other	Decentralized navigation	en
dc.subject.other	Feedback control strategy	en
dc.subject.other	Inter-agent objectives	en
dc.subject.other	Collision avoidance	en
dc.title	Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2005.1582135	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2005.1582135	en
heal.identifier.secondary	1582135	en
heal.publicationDate	2005	en
heal.abstract	A feedback control strategy that achieves convergence of a multi-agent system to a desired formation configuration avoiding at the same time collisions is proposed. The collision avoidance objective is handled by a decentralized navigation function that vanishes when the desired formation tends to be realized. 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. © 2005 IEEE.	en
heal.journalName	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05	en
dc.identifier.doi	10.1109/CDC.2005.1582135	en
dc.identifier.volume	2005	en
dc.identifier.spage	84	en
dc.identifier.epage	89	en