A connection between formation control and flocking behavior in nonholonomic multiagent systems

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:48Z
dc.date.available	2014-03-01T02:43:48Z
dc.date.issued	2006	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31511
dc.subject	Algebraic Graph Theory	en
dc.subject	Common Value	en
dc.subject	Computer Simulation	en
dc.subject	Control Strategy	en
dc.subject	Distributed Control	en
dc.subject	Formation Control	en
dc.subject	multiagent system	en
dc.subject	State Space	en
dc.subject	Steady State	en
dc.subject	Multi Agent System	en
dc.subject.other	Algebra	en
dc.subject.other	Computer simulation	en
dc.subject.other	Graph theory	en
dc.subject.other	Kinematics	en
dc.subject.other	Lyapunov methods	en
dc.subject.other	Vectors	en
dc.subject.other	Distributed control strategy	en
dc.subject.other	Flocking behavior	en
dc.subject.other	Holonomic kinematic agents	en
dc.subject.other	Lyapunov analysis	en
dc.subject.other	Multi agent systems	en
dc.title	A connection between formation control and flocking behavior in nonholonomic multiagent systems	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2006.1641830	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2006.1641830	en
heal.identifier.secondary	1641830	en
heal.publicationDate	2006	en
heal.abstract	This paper contains two main features: a provably correct distributed control strategy for convergence of multiple nonholonomic agents to a desired feasible formation configuration and a connection between formation infeasibility and flocking behavior in nonholonomic kinematic multi-agent systems. In particular, it is shown that when inter-agent formation objectives cannot occur simultaneously in the state-space then, under certain assumptions, the agents velocity vectors and orientations converge to a common value at steady state, under the same control strategy that would lead to a feasible formation. Convergence guarantees are provided in both cases using tools form algebraic graph theory and Lyapunov analysis. The results are verified through computer simulations. This is an extension of a result established in our previous work for multiple holonomic kinematic agents. © 2006 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2006.1641830	en
dc.identifier.volume	2006	en
dc.identifier.spage	940	en
dc.identifier.epage	945	en