TY - GEN
T1 - Connectivity-preserving flocking of multi-agent systems with application to wheeled mobile robots
AU - Mao, Yutian
AU - Dou, Lihua
AU - Fang, Hao
AU - Liu, Huagang
AU - Cao, Hu
PY - 2010
Y1 - 2010
N2 - This paper investigates distributed flocking of multiple autonomous agents under graph connectivity constraint. Hybrid artificial potential functions which could cope with the problems of connectivity preserving as well as collision avoidance are devised for all the agents. Combined with the linear velocity consensus protocol, a set of provable decentralized control laws is presented to enable the group to asymptotically exhibit the stable flocking motion while preserving the network connectivity for all time provided that the initial communication topology is connected. Furthermore, the proposed coordinated controllers are applied to the flocking control of a team of wheeled mobile robots. Finally, nontrivial simulations and experiments are demonstrated to verify the theoretic results.
AB - This paper investigates distributed flocking of multiple autonomous agents under graph connectivity constraint. Hybrid artificial potential functions which could cope with the problems of connectivity preserving as well as collision avoidance are devised for all the agents. Combined with the linear velocity consensus protocol, a set of provable decentralized control laws is presented to enable the group to asymptotically exhibit the stable flocking motion while preserving the network connectivity for all time provided that the initial communication topology is connected. Furthermore, the proposed coordinated controllers are applied to the flocking control of a team of wheeled mobile robots. Finally, nontrivial simulations and experiments are demonstrated to verify the theoretic results.
KW - Artificial potential functions
KW - Connectivity-preserving
KW - Multi-agent flocking
KW - Wheeled mobile robots
UR - http://www.scopus.com/inward/record.url?scp=78650255680&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78650255680
SN - 9787894631046
T3 - Proceedings of the 29th Chinese Control Conference, CCC'10
SP - 4494
EP - 4500
BT - Proceedings of the 29th Chinese Control Conference, CCC'10
T2 - 29th Chinese Control Conference, CCC'10
Y2 - 29 July 2010 through 31 July 2010
ER -