Decentralized leader-follower control for centroid and formation tracking
(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:
https://lup.lub.lu.se/record/f04a29fc-3886-451f-8e59-a533e00c69c8
- author
- Sileo, Monica ; Karayiannidis, Yiannis LU ; Pierri, Francesco and Caccavale, Fabrizio
- organization
- publishing date
- 2023-10-01
- 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}}, }