- Title
- How much control is enough for network connectivity preservation and collision avoidance?
- Creator
- Chen, Zhiyong; Fan, Ming-Can; Zhang, Hai-Tao
- Relation
- Funding BodyARCGrant NumberDP130103039 http://purl.org/au-research/grants/arc/DP130103039
- Relation
- IEEE Transactions on Cybernetics Vol. 45, Issue 8, p. 1647-1656
- Publisher Link
- http://dx.doi.org/10.1109/TCYB.2014.2357838
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2015
- Description
- For a multiagent system in free space, the agents are required to generate sufficiently large cohesive force for network connectivity preservation and sufficiently large repulsive force for collision avoidance. This paper gives an energy function based approach for estimating the control force in a general setting. In particular, the force estimated for network connectivity preservation and collision avoidance is separated from the force for other collective behavior of the agents. Moreover, the estimation approach is applied in three typical collective control scenarios including swarming, flocking, and flocking without velocity measurement.
- Subject
- collective control; collision avoidance; cooperative control; multiagent systems; network control
- Identifier
- http://hdl.handle.net/1959.13/1330741
- Identifier
- uon:26467
- Identifier
- ISSN:2168-2267
- Language
- eng
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