Collisionless and Decentralized Formation Control for Strings
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2021
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| _version_ | 1866912301339115520 |
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| author | Choi, Young-Pil Kalise, Dante Peters, Andrés A. |
| author_facet | Choi, Young-Pil Kalise, Dante Peters, Andrés A. |
| contents | A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation are guaranteed. Numerical tests assess the theoretical results presented. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2102_13621 |
| institution | arXiv |
| publishDate | 2021 |
| record_format | arxiv |
| spellingShingle | Collisionless and Decentralized Formation Control for Strings Choi, Young-Pil Kalise, Dante Peters, Andrés A. Optimization and Control Multiagent Systems Dynamical Systems Adaptation and Self-Organizing Systems A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation are guaranteed. Numerical tests assess the theoretical results presented. |
| title | Collisionless and Decentralized Formation Control for Strings |
| topic | Optimization and Control Multiagent Systems Dynamical Systems Adaptation and Self-Organizing Systems |
| url | https://arxiv.org/abs/2102.13621 |