Distributed control of swarm motions as continua using homogeneous maps and agent triangulation

Hossein Rastgoftar, Suhada Jayasuriya

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

10 Scopus citations


In this paper, presented is an approach for the control of swarm motions that treats a swarm as a deformable body or a continuum. By considering a special class of motion maps between a current configuration prescribed at a given time t and a desired configuration prescribed at a subsequent time t+Δt called a homogeneous map two strategies are proposed for the control of a swarm or a multi-agent system (MAS). In the first strategy, MAS motion control is achieved with no communication among agents in the idealized case where the required map from any t to t+Δt may be predetermined. It is the case when a desired swarm task can be scripted ahead of time with some certainty. The second control strategy is based on three leaders prescribing the motion map for a desired swarm task which is then propagated to the followers via a local inter-agent communication protocol. The proposed communication protocol exploits some special features of homogeneous maps. It achieves the desired MAS motion control with three leaders and minimum inter-agent communications. Simulation results validate the effectiveness of the proposed strategies.

Original languageEnglish (US)
Title of host publication2013 European Control Conference, ECC 2013
PublisherIEEE Computer Society
Number of pages7
ISBN (Print)9783033039629
StatePublished - 2013
Externally publishedYes
Event2013 12th European Control Conference, ECC 2013 - Zurich, Switzerland
Duration: Jul 17 2013Jul 19 2013

Publication series

Name2013 European Control Conference, ECC 2013


Conference2013 12th European Control Conference, ECC 2013

ASJC Scopus subject areas

  • Control and Systems Engineering


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