Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation

Hossein Rastgoftar; Ella M. Atkins

doi:10.1115/DSCC2016-9752

Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation

Hossein Rastgoftar, Ella M. Atkins

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

This paper considers the problem of deploying an arbitrary multi-agent system in a desired formation over an n-dimensional motion space. Each agent is considered to be a ball and collision avoidance is addressed. System evolution in Rⁿ is decomposed into n one dimensional motion problems, where evolution of the agents qth (q = 1;2;3) components are independently guided by two q-leaders. The remaining agents are considered q-followers, updating the q^th component of their positions by local interactions with two neighboring q-agents. Communications among the q-agents are weighted by values consistent with the q^th position components of agents in the desired configuration. This paper shows how specifying certain constraints on q-leader motion can address the problem of inter-agent collision avoidance when followers acquire their desired positions only by local communication.

Original language	English (US)
Title of host publication	Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791850701
DOIs	https://doi.org/10.1115/DSCC2016-9752
State	Published - 2016
Externally published	Yes
Event	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States Duration: Oct 12 2016 → Oct 14 2016

Publication series

Name	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Volume	2

Conference

Conference	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Country/Territory	United States
City	Minneapolis
Period	10/12/16 → 10/14/16

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering
Control and Systems Engineering

Access to Document

10.1115/DSCC2016-9752

Cite this

Rastgoftar, H., & Atkins, E. M. (2016). Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation. In Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2016-9752

Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation. / Rastgoftar, Hossein; Atkins, Ella M.
Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers, 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rastgoftar, H & Atkins, EM 2016, Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation. in Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, vol. 2, American Society of Mechanical Engineers, ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, Minneapolis, United States, 10/12/16. https://doi.org/10.1115/DSCC2016-9752

Rastgoftar H, Atkins EM. Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation. In Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers. 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016). doi: 10.1115/DSCC2016-9752

Rastgoftar, Hossein ; Atkins, Ella M. / Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation. Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers, 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016).

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abstract = "This paper considers the problem of deploying an arbitrary multi-agent system in a desired formation over an n-dimensional motion space. Each agent is considered to be a ball and collision avoidance is addressed. System evolution in Rn is decomposed into n one dimensional motion problems, where evolution of the agents qth (q = 1;2;3) components are independently guided by two q-leaders. The remaining agents are considered q-followers, updating the qth component of their positions by local interactions with two neighboring q-agents. Communications among the q-agents are weighted by values consistent with the qth position components of agents in the desired configuration. This paper shows how specifying certain constraints on q-leader motion can address the problem of inter-agent collision avoidance when followers acquire their desired positions only by local communication.",

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note = "Funding Information: This work was supported in part under Office of Naval Research (ONR) grant N000141410596. Publisher Copyright: Copyright {\textcopyright} 2016 by ASME.; ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 ; Conference date: 12-10-2016 Through 14-10-2016",

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Deployment of an arbitrary distribution of a multi-agent system with finite size on a desired formation

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