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 -