2009 Annual IEEE India Conference 2009
DOI: 10.1109/indcon.2009.5409350
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A New Algorithm for Motion Control of Acyclic Minimally Persistent Formation of Mobile Autonomous Agents

Abstract: This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [4] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest path between its initial & final position during the motion of formation is developed using SQP-a nonlinear optimization techniq… Show more

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