TY - JOUR
T1 - Flocking with obstacle avoidance and connectivity maintenance in multi-agent systems
AU - Wang, Qiang
AU - Fang, Hao
AU - Chen, Jie
AU - Mao, Yutian
AU - Dou, Lihua
PY - 2012
Y1 - 2012
N2 - The problems of flocking with both connectivity maintenance and obstacle avoidance for the network of dynamic agents are addressed. In the case where the initial network is connected, a set of decentralized flocking control protocols is presented by utilizing artificial potential functions combined with stream functions to enable the group to asymptotically achieve the desired stable flocking motion, which could not only maintain the network connectivity of the dynamic multi-agent systems for all time but also make all the agents avoid obstacles smoothly without trapping into local minima. Finally, nontrivial simulations and experiments are worked out to verify the effectiveness of the theoretical methods.
AB - The problems of flocking with both connectivity maintenance and obstacle avoidance for the network of dynamic agents are addressed. In the case where the initial network is connected, a set of decentralized flocking control protocols is presented by utilizing artificial potential functions combined with stream functions to enable the group to asymptotically achieve the desired stable flocking motion, which could not only maintain the network connectivity of the dynamic multi-agent systems for all time but also make all the agents avoid obstacles smoothly without trapping into local minima. Finally, nontrivial simulations and experiments are worked out to verify the effectiveness of the theoretical methods.
UR - http://www.scopus.com/inward/record.url?scp=84874242959&partnerID=8YFLogxK
U2 - 10.1109/CDC.2012.6426472
DO - 10.1109/CDC.2012.6426472
M3 - Conference article
AN - SCOPUS:84874242959
SN - 0743-1546
SP - 4009
EP - 4014
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
M1 - 6426472
T2 - 51st IEEE Conference on Decision and Control, CDC 2012
Y2 - 10 December 2012 through 13 December 2012
ER -