An inverse agreement control strategy with application to swarm dispersion

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:26Z
dc.date.available	2014-03-01T02:44:26Z
dc.date.issued	2007	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31829
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Control Design	en
dc.subject	Control Strategy	en
dc.subject	Minimum Distance	en
dc.subject	System Evolution	en
dc.subject	Lower Bound	en
dc.subject.other	Boundary conditions	en
dc.subject.other	Closed loop systems	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Systems analysis	en
dc.subject.other	Control strategy	en
dc.subject.other	Swarm dispersion	en
dc.subject.other	Workspace boundary	en
dc.subject.other	Control systems	en
dc.title	An inverse agreement control strategy with application to swarm dispersion	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2007.4434633	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2007.4434633	en
heal.identifier.secondary	4434633	en
heal.publicationDate	2007	en
heal.abstract	We propose an inverse agreement control strategy for multiple kinematic agents that forces the team members to disperse in the workspace in a distributed manner. Both the cases of an unbounded and a cyclic, 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 cyclic workspace, the control law is redefined in order to force the agents to remain within the workspace boundary throughout the closed loop system evolution. Moreover the proposed control design guarantees collision avoidance between the team members in both cases. The results are supported through relevant computer simulations. © 2007 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2007.4434633	en
dc.identifier.spage	6148	en
dc.identifier.epage	6153	en