Continuum Deformation Coordination of Multi-Agent Systems Using Cooperative Localization

Hossein Rastgoftar, Sergey Nersesov, Hashem Ashrafiuon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a 2-D motion space and let the continuum deformation coordination be defined by three leaders located at vertices of a triangle, called the leading triangle. The leaders' desired trajectories are assigned as the solution of a constrained optimal control problem such that safety requirements are satisfied in the presence of disturbance and measurement noise. Followers distributed inside the leading triangle acquire continuum deformation in a decentralized fashion by integrating cooperative localization and local communication. Specifically, cooperative localization estimates the global positions of all agents using relative position measurements based primarily on proximity of agents. Simulation results are presented for a network of ten agents.

Original languageEnglish (US)
Title of host publicationCCTA 2021 - 5th IEEE Conference on Control Technology and Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages90-96
Number of pages7
ISBN (Electronic)9781665436434
DOIs
StatePublished - 2021
Event5th IEEE Conference on Control Technology and Applications, CCTA 2021 - Virtual, San Diego, United States
Duration: Aug 8 2021Aug 11 2021

Publication series

NameCCTA 2021 - 5th IEEE Conference on Control Technology and Applications

Conference

Conference5th IEEE Conference on Control Technology and Applications, CCTA 2021
Country/TerritoryUnited States
CityVirtual, San Diego
Period8/8/218/11/21

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software
  • Control and Systems Engineering
  • Theoretical Computer Science

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