Control of a formation with one cyclic relation in 3-dimensional space

Yongguang Yu; Han-Xiong Li; Guoguang Wen

doi:10.1109/RAMECH.2008.4681469

Control of a formation with one cyclic relation in 3-dimensional space

Yongguang Yu, Han-Xiong Li, Guoguang Wen

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

Abstract

The paper investigates the flocking behaviors of multi-agent formation in 3-dimensional space which are based on leader following, where the underlying model of a formation is graphical. When the graph is undirected, a class of decentralized control laws for a group of mobile agents are proposed under the conditions that the topology of the control interconnections is fixed. These control laws are a combination of attractive/repulsive and alignments forces which can guarantee the collision avoidance and cohesion of the formation and an aggregate motion along the same heading direction of the leader. And when the graph is directed, a formation of four point agents moving in 3-dimensional space is considered, where one agent is a leader, and the other agents have a cyclic ordering with each one required to maintain a given distance from its neighbor. A control law is obtained, which can be guaranteed the distance preserved for the formation. © 2008 IEEE.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
Pages	415-420
DOIs	https://doi.org/10.1109/RAMECH.2008.4681469
Publication status	Published - 2008
Event	2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 - Chengdu, China Duration: 21 Sept 2008 → 24 Sept 2008

Conference

Conference	2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
Place	China
City	Chengdu
Period	21/09/08 → 24/09/08

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Research Keywords

Cyclic relation
Decentralized control
Leader
Multi-agent formation

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10.1109/RAMECH.2008.4681469

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title = "Control of a formation with one cyclic relation in 3-dimensional space",

abstract = "The paper investigates the flocking behaviors of multi-agent formation in 3-dimensional space which are based on leader following, where the underlying model of a formation is graphical. When the graph is undirected, a class of decentralized control laws for a group of mobile agents are proposed under the conditions that the topology of the control interconnections is fixed. These control laws are a combination of attractive/repulsive and alignments forces which can guarantee the collision avoidance and cohesion of the formation and an aggregate motion along the same heading direction of the leader. And when the graph is directed, a formation of four point agents moving in 3-dimensional space is considered, where one agent is a leader, and the other agents have a cyclic ordering with each one required to maintain a given distance from its neighbor. A control law is obtained, which can be guaranteed the distance preserved for the formation. {\textcopyright} 2008 IEEE.",

keywords = "Cyclic relation, Decentralized control, Leader, Multi-agent formation",

author = "Yongguang Yu and Han-Xiong Li and Guoguang Wen",

year = "2008",

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language = "English",

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note = "2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 ; Conference date: 21-09-2008 Through 24-09-2008",

}

Yu, Y, Li, H-X & Wen, G 2008, Control of a formation with one cyclic relation in 3-dimensional space. in 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008., 4681469, pp. 415-420, 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008, Chengdu, China, 21/09/08. https://doi.org/10.1109/RAMECH.2008.4681469

Control of a formation with one cyclic relation in 3-dimensional space. / Yu, Yongguang; Li, Han-Xiong; Wen, Guoguang.
2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008. 2008. p. 415-420 4681469.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Control of a formation with one cyclic relation in 3-dimensional space

AU - Yu, Yongguang

AU - Li, Han-Xiong

AU - Wen, Guoguang

PY - 2008

Y1 - 2008

N2 - The paper investigates the flocking behaviors of multi-agent formation in 3-dimensional space which are based on leader following, where the underlying model of a formation is graphical. When the graph is undirected, a class of decentralized control laws for a group of mobile agents are proposed under the conditions that the topology of the control interconnections is fixed. These control laws are a combination of attractive/repulsive and alignments forces which can guarantee the collision avoidance and cohesion of the formation and an aggregate motion along the same heading direction of the leader. And when the graph is directed, a formation of four point agents moving in 3-dimensional space is considered, where one agent is a leader, and the other agents have a cyclic ordering with each one required to maintain a given distance from its neighbor. A control law is obtained, which can be guaranteed the distance preserved for the formation. © 2008 IEEE.

AB - The paper investigates the flocking behaviors of multi-agent formation in 3-dimensional space which are based on leader following, where the underlying model of a formation is graphical. When the graph is undirected, a class of decentralized control laws for a group of mobile agents are proposed under the conditions that the topology of the control interconnections is fixed. These control laws are a combination of attractive/repulsive and alignments forces which can guarantee the collision avoidance and cohesion of the formation and an aggregate motion along the same heading direction of the leader. And when the graph is directed, a formation of four point agents moving in 3-dimensional space is considered, where one agent is a leader, and the other agents have a cyclic ordering with each one required to maintain a given distance from its neighbor. A control law is obtained, which can be guaranteed the distance preserved for the formation. © 2008 IEEE.

KW - Cyclic relation

KW - Decentralized control

KW - Leader

KW - Multi-agent formation

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M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781424416769

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BT - 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008

T2 - 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008

Y2 - 21 September 2008 through 24 September 2008

ER -

Control of a formation with one cyclic relation in 3-dimensional space

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Research Keywords

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