Evolution of multi agent systems under a new communication topology

Hossein Rastgoftar, Suhada Jayasuriya

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

1 Scopus citations


In this paper, a multi agent system (MAS) is considered as particles of a continuum deforming under a specific class of homeomorphic mappings, called a homogenous transformation. We have recently showed how a desired homogenous mapping of the MAS in a n - D space can be prescribed by transient positions of n + 1 leaders placed at the vertices of a n - D polytope, called leading polytope [1-9]. In this article, we first minimize the acceleration norm with (i) initial and final positions of the leaders known and (ii) leaders (located at the vertices of the leading polytope) are constrained to move in such a way that the initial volume of the leading polytope is preserved during evolution. The followers learn the leaderdetermined homogenous map through local communication with each follower modeled as a double integrator. Proposed is a communication topology that requires every follower agent to update its position based on communication with n + 1 local agents. The weights of communication are uniquely specified by the initial positions of the agents. Simulation of a MAS moving in a plane validates the proposed communication topology.

Original languageEnglish (US)
Title of host publicationIndustrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791846209
StatePublished - 2014
Externally publishedYes
EventASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States
Duration: Oct 22 2014Oct 24 2014

Publication series

NameASME 2014 Dynamic Systems and Control Conference, DSCC 2014


ConferenceASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Country/TerritoryUnited States
CitySan Antonio

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'Evolution of multi agent systems under a new communication topology'. Together they form a unique fingerprint.

Cite this