Connectivity-preserving flocking of multi-agent systems with application to wheeled mobile robots

Yutian Mao; Lihua Dou; Hao Fang; Huagang Liu; Hu Cao

Connectivity-preserving flocking of multi-agent systems with application to wheeled mobile robots

Yutian Mao^*, Lihua Dou, Hao Fang, Huagang Liu, Hu Cao

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 29th Chinese Control Conference, CCC'10
Pages	4494-4500
Number of pages	7
Publication status	Published - 2010
Event	29th Chinese Control Conference, CCC'10 - Beijing, China Duration: 29 Jul 2010 → 31 Jul 2010

Publication series

Name	Proceedings of the 29th Chinese Control Conference, CCC'10

Conference

Conference	29th Chinese Control Conference, CCC'10
Country/Territory	China
City	Beijing
Period	29/07/10 → 31/07/10

Keywords

Artificial potential functions
Connectivity-preserving
Multi-agent flocking
Wheeled mobile robots

Cite this

@inproceedings{0ebab7a7723542b48c8b8126e7e40c0b,

title = "Connectivity-preserving flocking of multi-agent systems with application to wheeled mobile robots",

abstract = "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.",

keywords = "Artificial potential functions, Connectivity-preserving, Multi-agent flocking, Wheeled mobile robots",

author = "Yutian Mao and Lihua Dou and Hao Fang and Huagang Liu and Hu Cao",

year = "2010",

language = "English",

isbn = "9787894631046",

series = "Proceedings of the 29th Chinese Control Conference, CCC'10",

pages = "4494--4500",

booktitle = "Proceedings of the 29th Chinese Control Conference, CCC'10",

note = "29th Chinese Control Conference, CCC'10 ; Conference date: 29-07-2010 Through 31-07-2010",

}

Connectivity-preserving flocking of multi-agent systems with application to wheeled mobile robots. / Mao, Yutian; Dou, Lihua; Fang, Hao et al.
Proceedings of the 29th Chinese Control Conference, CCC'10. 2010. p. 4494-4500 5573087 (Proceedings of the 29th Chinese Control Conference, CCC'10).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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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 -

Connectivity-preserving flocking of multi-agent systems with application to wheeled mobile robots

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Keywords

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