A remark on collective circular motion of heterogeneous multi-agents

Chen, Zhiyong; Zhang, Haitao

doi:10.1016/j.automatica.2013.01.017

Cited by 80 publications

(39 citation statements)

References 18 publications

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“…Based on Lemma 3 and by considering (13), all the agents reach consensus on a pursuit centroid. Therefore, by considering all the above-mentioned issues, a common pursuit centroid will be obtained for (10).…”

Section: Consensus On a Pursuit Centroid In Dynamics Levelmentioning

confidence: 99%

“…In this condition, there is a directed path between each two agents in the associated communication graph, and the graph is strongly connected. However, the stability analysis of the overall MAS in the presence of cyclic graphs is the main problem of this class of approaches [11]- [13].…”

mentioning

confidence: 99%

“…Since the agents speeds were not identical, they rotated on orbits with different radiuses. In [13], [22], and [23], circular motion of non-holonomic first-order agents was studied. In [24] and [25], the cyclic pursuit idea was employed for first-order kinematics rendezvous.…”

mentioning

confidence: 99%

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Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Rezaee

Abdollahi

2015

IEEE Trans. Ind. Electron.

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This paper deals with cyclic pursuit of doubleintegrator multiagent systems in regular polygon formations. In kinematics level, based on a leaderless architecture, each agent pursues another one in a regular polygon formation with cyclic pursuit around a centroid. Then, in dynamics level, the agents reach consensus on a centroid around which they pursue each other. Despite introduced cyclic pursuit approaches in the literature based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Moreover, based on the proposed approach, it is feasible to control the cyclic pursuit angular velocity. Numerical simulations for a multiagent system including seven agents confirm the usefulness of the proposed formation control strategy.

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Section: Consensus On a Pursuit Centroid In Dynamics Levelmentioning

confidence: 99%

mentioning

confidence: 99%

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Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Rezaee

Abdollahi

2015

IEEE Trans. Ind. Electron.

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“…Circular motion has been studied in the scenario of cyclic pursuit with ring topology [14][15][16][17][18][19][20][21][22][23]. A collective circular motion is addressed with a jointly connected communication condition [24,25]. Under all-to-all communication condition, the phase potentials are used for uniform phase arrangement of particles along a circle [26].…”

Section: Introductionmentioning

confidence: 99%

“…The circular formation is a design method for steering the agents to orbit around a target along a common circle, which provides a simple geometric shape to collect data with a desired spatial and temporal distribution. In the community of systems and control, research efforts have been devoted to the circle formation problem for multiagent systems modeled as single or double integrators [14][15][16][17][18] and unicycles [19][20][21][22][23][24][25][26] under different communication topologies. Circular motion has been studied in the scenario of cyclic pursuit with ring topology [14][15][16][17][18][19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

Jin

Dongxu

2018

Journal of Control Science and Engineering

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This paper deals with the circular formation control problem of multiagent systems for achieving any preset phase distribution. The control problem is decomposed into two parts: the first is to drive all the agents to a circle which either needs a target or not and the other is to arrange them in positions distributed on the circle according to the preset relative phases. The first part is solved by designing a circular motion control law to push the agents to approach a rotating transformed trajectory, and the other is settled using a phase-distributed protocol to decide the agents' positioning on the circle, where the ring topology is adopted such that each agent can only sense the relative positions of its neighboring two agents that are immediately in front of or behind it. The stability of the closed-loop system is analyzed, and the performance of the proposed controller is verified through simulations.

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An Overview of Cooperative and Consensus Control of Multiagent Systems

Davoodi

Gallehdari

Saboori

et al. 2016

Wiley Encyclopedia of Electrical and Electronics Engineering

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There has been a growing interest toward the development of networked unmanned autonomous systems that can operate without an extensive involvement of humans. The motivation for this focus can be traced to the emergence of applications where direct human intervention is not possible due to the environmental hazards, complexity of the tasks, or other restrictions. These networks can consist of a large number of dynamical systems (agents), such as unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and unmanned underwater vehicles (UUVs). These systems commonly include a number of sensors, actuators, and decisionmakers. Therefore, the network of these systems is a network of a large number of sensors and actuators or, as is known in the literature, a system of systems (SoS). In this work, we provide a brief overview of controlling these networks, their applications, and the solutions that are proposed for these problems in the literature. Specifically, this article overviews recent results and progress made on multiagent consensus by focusing on cooperative control and consensus (formation) control in the presence of communication, control implementation, and saturation constraints. In addition, we review the active areas of event‐triggered consensus control, network security and attacks on the agents, and networks and resilient consensus control strategies that are proposed to handle these challenges.

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A remark on collective circular motion of heterogeneous multi-agents

Cited by 80 publications

References 18 publications

Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

An Overview of Cooperative and Consensus Control of Multiagent Systems

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