Flocking with obstacle avoidance and connectivity maintenance in multi-agent systems

Qiang Wang; Hao Fang; Jie Chen; Yutian Mao; Lihua Dou

doi:10.1109/CDC.2012.6426472

Flocking with obstacle avoidance and connectivity maintenance in multi-agent systems

Qiang Wang^*, Hao Fang, Jie Chen, Yutian Mao, Lihua Dou

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Conference article › peer-review

19 Citations (Scopus)

Abstract

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.

Original language	English
Article number	6426472
Pages (from-to)	4009-4014
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/CDC.2012.6426472
Publication status	Published - 2012
Event	51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: 10 Dec 2012 → 13 Dec 2012

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10.1109/CDC.2012.6426472

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abstract = "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.",

author = "Qiang Wang and Hao Fang and Jie Chen and Yutian Mao and Lihua Dou",

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AU - Fang, Hao

AU - Chen, Jie

AU - Mao, Yutian

AU - Dou, Lihua

PY - 2012

Y1 - 2012

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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.

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U2 - 10.1109/CDC.2012.6426472

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T2 - 51st IEEE Conference on Decision and Control, CDC 2012

Y2 - 10 December 2012 through 13 December 2012

ER -

Flocking with obstacle avoidance and connectivity maintenance in multi-agent systems

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