- Title
- Algorithms and experiments on flocking of multiagents in a bounded space
- Creator
- Chen, Zhiyong; Zhang, Hai-Tao; Fan, Ming-Can; Wang, Dan; Li, Dinggen
- Relation
- ARC.DP130103039
- Relation
- IEEE Transactions on Control Systems Technology Vol. 22, Issue 4, p. 1544-1549
- Publisher Link
- http://dx.doi.org/10.1109/TCST.2013.2279166
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2014
- Description
- In most scenarios encountered in both natural systems and engineering applications, collective motions are always confined in a bounded space. The conventional flocking formulation with velocity consensus does not apply in these scenarios as agents with a constant velocity that unavoidably move out of any bounded space. In this brief, the conventional flocking formulation and algorithms are generalized to address the issues caused by bouncing boundaries of a bounded space. In addition, the theoretical design was successfully implemented in a group of real robots such that it experimentally achieved a desired flock in a bounded space.
- Subject
- collective motion; consensus; cooperative control; multiagent systems; nonholonomic vehicles
- Identifier
- http://hdl.handle.net/1959.13/1297161
- Identifier
- uon:19385
- Identifier
- ISSN:1063-6536
- Language
- eng
- Reviewed
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