Formation maneuvering with collision avoidance and connectivity maintenance

Title: Formation maneuvering with collision avoidance and connectivity maintenance
Creator: Han, Zhimin; Lin, Zhiyun; Chen, Zhiyong; Fu, Minyue
Relation: 2015 IEEE International Symposium on Intelligent Control (ISIC). Proceedings of the 2015 IEEE International Symposium on Intelligent Control (Sydney 21-23 September, 2015) p. 652-657
Publisher Link: http://dx.doi.org/10.1109/ISIC.2015.7307284
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2015
Description: This paper proposes a switching control strategy for formation maneuvering control of multi-agent systems with guaranteed collision avoidance and connectivity maintenance properties. The control strategy consists of three parts: formation maneuvering, collision avoidance, and connectivity maintenance control. We adopt the idea of using complex Laplacian for formation maneuvering control, which gives rise to one degree of freedom in scaling the size of the achievable formations and thus enables collision avoidance and connectivity maintenance possible in the meantime. Simulation results are provided to demonstrate the effectiveness of the control strategy.
Subject: collision avoidance; multi-agent systems; multi-robot systems
Identifier: http://hdl.handle.net/1959.13/1316319
Identifier: uon:23135
Identifier: ISBN:9781479977888
Language: eng
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