文章基本信息

标题：Geometric Pattern Formation with Coordinated Double-Integrator Agents
本地全文：下载
作者：Jerome Moses M ; Arpita Sinha ; Hoam Chung 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：172-177
DOI：10.1016/j.ifacol.2018.11.537
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with the problem of geometric pattern formation by a group of mobile autonomous agents. The patterns are formed by the trajectories of the agents modeled with double integrator dynamics. The patterns can either be closed or can cover the entire space. We build upon an existing consensus law, by introducing self position feedback and study the collective motion of a team of agents. The patterns are not only aesthetically appealing but can also be used in civilian applications like search, exploration and surveillance. There is no restriction on the underlying graph topology. The control law manipulates the location of the eigenvalues of the overall system to achieve the pattern. We present simulation results to validate the developed theory.
关键词：Keywordscooperative controlpattern formationmulti-agent systemsformation control