TY - GEN
T1 - Continuum evolution of multi agent systems under a polyhedral communication topology
AU - Rastgoftar, Hossein
AU - Jayasuriya, Suhada
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
KW - Control of communication networks
KW - Decentralized control
UR - http://www.scopus.com/inward/record.url?scp=84905674371&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84905674371&partnerID=8YFLogxK
U2 - 10.1109/ACC.2014.6859293
DO - 10.1109/ACC.2014.6859293
M3 - Conference contribution
AN - SCOPUS:84905674371
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 5115
EP - 5120
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 American Control Conference, ACC 2014
Y2 - 4 June 2014 through 6 June 2014
ER -