Collision avoidance with obstacles in flocking for multi agent systems

Mousavi, Mir Saman Rahimi; Khaghani, Mehran; Vossoughi, Gholamreza

doi:10.1109/iecr.2010.5720122

Cited by 11 publications

(6 citation statements)

References 5 publications

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“…In Olfati-Saber's work and in other studies, [27][28][29] they mainly focus on obstacles of spheres, infinite walls, or point-obstacles. These assumptions about obstacles cannot be accepted in either man-made or natural environment.…”

Section: Flocking With Obstacle Avoidance Umentioning

confidence: 99%

Persistent surveillance for a swarm of micro aerial vehicles by flocking algorithm

2014

Proceedings of the Institution of Mechanical Engineers, Part G:

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Persistent surveillance is a major role envisioned for autonomous unmanned vehicles. The mission of persistent surveillance requires the vehicles to continuously survey a target region. This paper investigates the techniques of persistent surveillance control for a swarm of micro aerial vehicles. We present a flocking algorithm to drive the micro aerial vehicles flying in a coordinate formation with a capability of obstacle avoidance. We propose a new digital pheromone mechanism to control and coordinate the swarms of micro aerial vehicles to search a field of interest and to reduce the uncertainty of every region in the field over time. Simulation results show the effectiveness of our proposed algorithm in generating collision-free persistent surveillance trajectories for a swarm of micro aerial vehicles in a coordinated manner.

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Section: Flocking With Obstacle Avoidance Umentioning

confidence: 99%

Persistent surveillance for a swarm of micro aerial vehicles by flocking algorithm

2014

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Formation control problem in multi-agent systems (MAS) has received much attention in the last decade because of its growing range of applications, such as exploration, rescue tasks and so forth. [1][2][3][4] One of the main issues in formation control is the collision-free strategy design, regarding not only collisions among agents but also against environmental obstacles. [5][6][7] Several solutions to this problem have been proposed.…”

Section: Introductionmentioning

confidence: 99%

A General Solution to the Formation Control Problem Without Collisions for First-Order Multi-Agent Systems

Flores-Resendiz¹,

Aranda-Bricaire

2019

Robotica

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SUMMARYIn this paper, a general solution to the formation control problem without collisions for first-order multi-agent systems is proposed. The case of an arbitrary number of mobile agents on a plane with saturated input velocity is analysed. Besides, conditions on the communication graph among agents are relaxed to the only requirement of containing a directed spanning tree. This general approach is an extended result from the simpler case of combinations of cyclic pursuit communication graphs. The proposed solution to this problem is designed in two steps. First, the asymptotic convergence in the absence of collisions is ensured. After this, the non-collision problem is faced by analysing the most general possible geometrical scenario which can lead to collision among agents. Discontinuous vector fields with unstable counterclockwise focus behaviour are applied by every agent in order to repel each other. Numerical simulations illustrate the performance of the proposed scheme.

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“…During the last years, formation control in multiagent systems has received much attention due to the wide range of applications in which they can be used as exploration, rescue tasks, toxic residues cleaning, and so forth, [1,2]. A very important issue in formation control is the collision avoidance problem, with either other agents or obstacles [3]. If the formation control algorithms are designed in a totally centralized way, that is, with information exchange among all the agents, the computational load can increase seriously.…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths

Flores-Resendiz

Aranda-Bricaire

González‐Sierra

et al. 2015

Mathematical Problems in Engineering

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This paper addresses the formation control problem without collisions for multiagent systems. A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths. The control law is designed attending separately the convergence to the desired formation and the noncollision problems. First, a normalized version of the directed cyclic pursuit algorithm is proposed. After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs. Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law. The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius. The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times. Moreover, the closed-loop system does not exhibit undesired equilibria. Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.

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Collision avoidance with obstacles in flocking for multi agent systems

Cited by 11 publications

References 5 publications

Persistent surveillance for a swarm of micro aerial vehicles by flocking algorithm

Persistent surveillance for a swarm of micro aerial vehicles by flocking algorithm

A General Solution to the Formation Control Problem Without Collisions for First-Order Multi-Agent Systems

Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths

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