Connectivity preserving distributed swarm aggregation for multiple kinematic agents

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:31Z
dc.date.available	2014-03-01T02:44:31Z
dc.date.issued	2007	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31863
dc.subject	Collision Avoidance	en
dc.subject	Potential Field	en
dc.subject.other	Closed loop systems	en
dc.subject.other	Distributed parameter control systems	en
dc.subject.other	Graph theory	en
dc.subject.other	Kinematics	en
dc.subject.other	Multiple kinematic agents	en
dc.subject.other	Nonholonomic kinematic agents	en
dc.subject.other	Multi agent systems	en
dc.title	Connectivity preserving distributed swarm aggregation for multiple kinematic agents	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2007.4434601	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2007.4434601	en
heal.identifier.secondary	4434601	en
heal.publicationDate	2007	en
heal.abstract	A distributed swarm aggregation algorithm is developed for a team of multiple kinematic agents. Each agent is assigned with a control law which is the sum of two elements: a repulsive potential field, which is responsible for the collision avoidance objective, and an attractive potential field, that drives the agents to a configuration where they are close to each other and forces the agents that are initially located within the sensing radius of an agent to remain within this area for all time. In this way, the connectivity properties of the initially formed communication graph are rendered invariant for the trajectories of the closed loop system. It is shown that agents converge to a configuration where each agent is located at a bounded distance from each of its neighbors. The results are also extended to the case of nonholonomic kinematic agents and to the dynamic edge addition case, for which we derive a better bound in the swarm size than in the static case. © 2007 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2007.4434601	en
dc.identifier.spage	2913	en
dc.identifier.epage	2918	en