TY - GEN
T1 - Continuum evolution of a system of agents with finite size
AU - Rastgoftar, Hossein
AU - Jayasuriya, Suhada
N1 - Funding Information:
This work has been supported in part by the National Science Foundation under award nos. 1134669 and 1250280 from the ENG/CMMI division, and Drexel University.
Publisher Copyright:
© IFAC.
PY - 2014
Y1 - 2014
N2 - In this paper, considered is the evolution of a multi agent system (MAS) where every agent of the MAS is a ball in with radius s. Evolution of the MAS occurs with n+1 agents, called leader agents, moving independently, with rest of the agents of the MAS, called follower agents, updating their positions through communication with n+1 local neighboring agents with weights of communication of follower agents assigned based only on the initial positions of agents of the MAS. When weights of communications are all positive, it is assured that final formation of the MAS is a homogenous transformation of its initial configuration. During transition however, the follower agents will deviate from the state specified by the homogenous transformation. This deviation from the state corresponding to that of the homogenous transformation during transition from the initial configuration to the final configuration can be controlled by imposing a limit on leaders' velocities. This velocity limit depends on (i) the norm of the network matrix (specified based on initial positions of the agents), (ii) maximum allowable deviation from the state of homogenous transformation, and (iii) a control parameter. Thus, if the velocities of the leader agents don't exceed an assigned maximum value, deviation of followers from the state of homogenous transformation is limited to a maximum value throughout the transient motion.
AB - In this paper, considered is the evolution of a multi agent system (MAS) where every agent of the MAS is a ball in with radius s. Evolution of the MAS occurs with n+1 agents, called leader agents, moving independently, with rest of the agents of the MAS, called follower agents, updating their positions through communication with n+1 local neighboring agents with weights of communication of follower agents assigned based only on the initial positions of agents of the MAS. When weights of communications are all positive, it is assured that final formation of the MAS is a homogenous transformation of its initial configuration. During transition however, the follower agents will deviate from the state specified by the homogenous transformation. This deviation from the state corresponding to that of the homogenous transformation during transition from the initial configuration to the final configuration can be controlled by imposing a limit on leaders' velocities. This velocity limit depends on (i) the norm of the network matrix (specified based on initial positions of the agents), (ii) maximum allowable deviation from the state of homogenous transformation, and (iii) a control parameter. Thus, if the velocities of the leader agents don't exceed an assigned maximum value, deviation of followers from the state of homogenous transformation is limited to a maximum value throughout the transient motion.
KW - Asymptotic convergence
KW - Deviation from desired formation
KW - Homogenous transformation
KW - Local inter-agent communication
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U2 - 10.3182/20140824-6-za-1003.01713
DO - 10.3182/20140824-6-za-1003.01713
M3 - Conference contribution
AN - SCOPUS:84929833833
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 9667
EP - 9672
BT - 19th IFAC World Congress IFAC 2014, Proceedings
A2 - Boje, Edward
A2 - Xia, Xiaohua
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -