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On a hierarchical control strategy for multi-agent formation without reflection

Sugie, Toshiharu ; Anderson, Brian D.O. ; Sun, Zhiyong LU and Dong, Huichao (2019) 57th IEEE Conference on Decision and Control, CDC 2018 p.2023-2028
Abstract

This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by considering a potential function which consists of both distance error and signed triangle area terms. However, it seems to be challenging to apply it to formations with more than four agents. This paper shows a hierarchical control strategy which... (More)

This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by considering a potential function which consists of both distance error and signed triangle area terms. However, it seems to be challenging to apply it to formations with more than four agents. This paper shows a hierarchical control strategy which can be applicable to any number of agents based on the above type of potential function and a formation shaping incorporating a grouping of equilateral triangles, so that all controlled distances are in fact the same. A key analytical result and some numerical results are shown to demonstrate the effectiveness of the proposed method.

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author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2018 IEEE Conference on Decision and Control, CDC 2018
article number
8619404
pages
6 pages
publisher
Institute of Electrical and Electronics Engineers Inc.
conference name
57th IEEE Conference on Decision and Control, CDC 2018
conference location
Miami, United States
conference dates
2018-12-17 - 2018-12-19
external identifiers
  • scopus:85062190851
ISBN
9781538613955
DOI
10.1109/CDC.2018.8619404
language
English
LU publication?
yes
id
af2968bd-f75f-46fa-bafe-9f01a38d826b
date added to LUP
2019-03-11 13:12:16
date last changed
2020-10-07 06:20:51
@inproceedings{af2968bd-f75f-46fa-bafe-9f01a38d826b,
  abstract     = {<p>This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by considering a potential function which consists of both distance error and signed triangle area terms. However, it seems to be challenging to apply it to formations with more than four agents. This paper shows a hierarchical control strategy which can be applicable to any number of agents based on the above type of potential function and a formation shaping incorporating a grouping of equilateral triangles, so that all controlled distances are in fact the same. A key analytical result and some numerical results are shown to demonstrate the effectiveness of the proposed method.</p>},
  author       = {Sugie, Toshiharu and Anderson, Brian D.O. and Sun, Zhiyong and Dong, Huichao},
  booktitle    = {2018 IEEE Conference on Decision and Control, CDC 2018},
  isbn         = {9781538613955},
  language     = {eng},
  month        = {01},
  pages        = {2023--2028},
  publisher    = {Institute of Electrical and Electronics Engineers Inc.},
  title        = {On a hierarchical control strategy for multi-agent formation without reflection},
  url          = {http://dx.doi.org/10.1109/CDC.2018.8619404},
  doi          = {10.1109/CDC.2018.8619404},
  year         = {2019},
}