Further results on formation infeasibility and velocity alignment

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:38Z
dc.date.available	2014-03-01T02:44:38Z
dc.date.issued	2007	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31921
dc.subject	Computer Simulation	en
dc.subject	Multi Agent System	en
dc.subject.other	Computer simulation	en
dc.subject.other	Kinematics	en
dc.subject.other	Topology	en
dc.subject.other	Velocity	en
dc.subject.other	Bidirectional communication topology	en
dc.subject.other	Unidirectional communication topology	en
dc.subject.other	Multi agent systems	en
dc.title	Further results on formation infeasibility and velocity alignment	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2007.4434680	en
heal.identifier.secondary	4434680	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2007.4434680	en
heal.publicationDate	2007	en
heal.abstract	In previous work, we deduced that formation infeasibility results in velocity alignment in multi-agent systems with bidirectional communication topology and single integrator as well as nonholonomic kinematics. This paper contains additional results regarding the connection between formation infeasibility and velocity alignment. In particular, we obtain an analytic expression for the resulting common velocity vector in the case of formation infeasibility and extend the results to the case of unidirectional communication topology. The results are then extended to the case of a leader-follower architecture in which the followers are not aware of a global objective while the leaders are responsible for driving the team to the interior of a desired leader formation. When this formation is infeasible, we show that both leaders and followers attain a common velocity vector, of which an analytic expression is also provided. Computer simulations support the derived results. © 2007 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2007.4434680	en
dc.identifier.spage	1447	en
dc.identifier.epage	1452	en