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Decentralized leader-follower control for centroid and formation tracking

Sileo, Monica ; Karayiannidis, Yiannis LU orcid ; Pierri, Francesco and Caccavale, Fabrizio (2023) The 2023 IEEE Conference on Systems, Man, and Cybernetics p.3382-3387
Abstract
In this paper, a novel decentralized leader-follower control scheme for multi–agent systems is devised, where each agent communicates only with a subset of neighboring mates. The goal is to track assigned trajectories for the centroid and the formation of the system. The desired trajectories are known only by a subset of agents, named leaders: the other agents, the followers, are required to estimate the desired trajectories based on a dynamic consensus scheme. Then, the desired trajectories to be tracked by each agent are computed from the estimated trajectories for the centroid and the formation and a simple local control loop is adopted to track the former. Stability and performance are analyzed and experiments are run on Robotarium... (More)
In this paper, a novel decentralized leader-follower control scheme for multi–agent systems is devised, where each agent communicates only with a subset of neighboring mates. The goal is to track assigned trajectories for the centroid and the formation of the system. The desired trajectories are known only by a subset of agents, named leaders: the other agents, the followers, are required to estimate the desired trajectories based on a dynamic consensus scheme. Then, the desired trajectories to be tracked by each agent are computed from the estimated trajectories for the centroid and the formation and a simple local control loop is adopted to track the former. Stability and performance are analyzed and experiments are run on Robotarium platform to show the effectiveness of the approach and the effect of different parameters on the achieved performance. (Less)
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
pages
6 pages
conference name
The 2023 IEEE Conference on Systems, Man, and Cybernetics
conference location
Hawaii, United States
conference dates
2023-10-01 - 2023-10-04
external identifiers
  • scopus:85187298817
ISBN
979-835033702-0
DOI
10.1109/SMC53992.2023.10394056
project
RobotLab LTH
ELLIIT B14: Autonomous Force-Aware Swift Motion Control
language
English
LU publication?
yes
id
f04a29fc-3886-451f-8e59-a533e00c69c8
date added to LUP
2023-12-14 17:55:27
date last changed
2024-03-28 10:19:20
@inproceedings{f04a29fc-3886-451f-8e59-a533e00c69c8,
  abstract     = {{In this paper, a novel decentralized leader-follower control scheme for multi–agent systems is devised, where each agent communicates only with a subset of neighboring mates. The goal is to track assigned trajectories for the centroid and the formation of the system. The desired trajectories are known only by a subset of agents, named leaders: the other agents, the followers, are required to estimate the desired trajectories based on a dynamic consensus scheme. Then, the desired trajectories to be tracked by each agent are computed from the estimated trajectories for the centroid and the formation and a simple local control loop is adopted to track the former. Stability and performance are analyzed and experiments are run on Robotarium platform to show the effectiveness of the approach and the effect of different parameters on the achieved performance.}},
  author       = {{Sileo, Monica and Karayiannidis, Yiannis and Pierri, Francesco and Caccavale, Fabrizio}},
  booktitle    = {{2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)}},
  isbn         = {{979-835033702-0}},
  language     = {{eng}},
  month        = {{10}},
  pages        = {{3382--3387}},
  title        = {{Decentralized leader-follower control for centroid and formation tracking}},
  url          = {{http://dx.doi.org/10.1109/SMC53992.2023.10394056}},
  doi          = {{10.1109/SMC53992.2023.10394056}},
  year         = {{2023}},
}