Circle formation control of mobile agents with limited interaction range

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journal

6 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)2115-2121
Journal / PublicationIEEE Transactions on Automatic Control
Volume64
Issue number5
Online published23 Aug 2018
Publication statusPublished - May 2019

Abstract

The circle formation problem for a group of mobile agents with limited interaction range is addressed in this paper. Distributed switching control laws are developed for multi-agent systems to form prescribed formations from any initial configurations on a circle. It is shown that the desired circle formation can be achieved if a parameter depending on the agent' interaction range is larger than the prescribed angular distance from each agent to its immediate counterclockwise agent. When the agents' interaction range is not sufficiently large, the formation error of each agent converges to a limit, and an upper bound and a lower bound on the limit value are provided. It is also shown that under the proposed control laws, the mobile agents' spatial order on the circle is always preserved and thus collision between mobile agents is avoided.

Research Area(s)

  • Circle formation, Decentralized control, distributed control, interaction range, Mobile agents, Multi-agent systems, multi-agent systems, Network topology, Sensors, Task analysis