@inproceedings{835d758082884bc79f9e963db331cfc7,
title = "Gradient-based collision avoidance algorithm for second-order multi-agent formation control",
abstract = "This paper investigates the collision avoidance problem in formation control. First, a collision avoidance algorithm is proposed by using the gradient-based method. Then, a collision-free consensus based formation protocol is developed for a group of second-order systems with the aid of graph theory. In particular, the formation protocol is designed only based on the relative information obtained via the network connection, without the global information of the agents. Finally, simulation results with different topologies verify the effectiveness of the proposed algorithms.",
keywords = "Multi-Agent Systems, consensus algorithm, formation control, gradient-based collision avoidance",
author = "Qinghai Gong and Chunyan Wang and Zhenqiang Qi and Zhengtao Ding",
note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",
year = "2017",
month = sep,
day = "7",
doi = "10.23919/ChiCC.2017.8028652",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "8183--8188",
editor = "Tao Liu and Qianchuan Zhao",
booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",
address = "United States",
}