Continuum evolution of multi agent systems under a polyhedral communication topology

Hossein Rastgoftar, Suhada Jayasuriya

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

3 Scopus citations


In this paper, evolution of a multi agent system (MAS) in n-D space where n+1 or more leader agents located on the boundary guide the MAS is studied. We consider the MAS as a deformable body whose motion can be prescribed by a homogeneous map determined by the initial and current positions of the leaders. Each follower agent learns this leader prescribed motion plan by local communication with adjacent agents. In previous work we assumed that each follower communicates with n+1 adjacent agent [1-7]. Here we relax that constraint to include more than 3 adjacent agents by choosing a polyhedral communication topology where the vertices are local agents that are adjacent to a follower agent i. The polytope encloses the follower agent i and is the union of mi sub-polyhedra, with one of the n+1 vertices occupied by agent i. mi volume weights are defined based on the initial position of follower i and the set of adjacent agents to. The motion proceeds by updating the position of every follower agent such that volume weights in intermediate configurations of the MAS are close to the initial volume weights. This update strategy maneuvers the MAS to its final desired formation as a homogenous map of its initial configuration.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479932726
StatePublished - 2014
Externally publishedYes
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2014 American Control Conference, ACC 2014
Country/TerritoryUnited States
CityPortland, OR


  • Control of communication networks
  • Decentralized control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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