Stable flocking of mobile agents. II. Dynamic topology

Tanner, Herbert G.; Jadbabaie, Ali; Pappas, George J.

doi:10.1109/cdc.2003.1272911

Cited by 366 publications

(338 citation statements)

References 9 publications

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“…The notion of a communication digraph is introduced in [4], and an averaging feedback law is proposed based on the flow of information. The authors of [23][24][25] investigate the motions of vehicles modelled as double integrators. Their goal is for the vehicles to achieve a common velocity while avoiding collisions.…”

Section: Introductionmentioning

confidence: 99%

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Decentralized control of vehicle formations

Lafferriere

Williams

Caughman

et al. 2005

Systems & Control Letters

563

275

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This paper investigates a method for decentralized stabilization of vehicle formations using techniques from algebraic graph theory. The vehicles exchange information according to a pre-specified communication digraph, G. A feedback control is designed using relative information between a vehicle and its in-neighbors in G. We prove that a necessary and sufficient condition for an appropriate decentralized linear stabilizing feedback to exist is that G has a rooted directed spanning tree. We show the direct relationship between the rate of convergence to formation and the eigenvalues of the (directed) Laplacian of G. Various special situations are discussed, including symmetric communication graphs and formations with leaders. Several numerical simulations are used to illustrate the results.

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Section: Introductionmentioning

confidence: 99%

“…These include the coordinated control of minisatellites, drone planes, and underwater vehicles [4,5,7,[9][10][11][12][13]20,[22][23][24][25]29]. One of the main goals is to achieve a coordinated objective while using only relative information concerning positions and velocity.…”

Section: Introductionmentioning

confidence: 99%

Decentralized control of vehicle formations

Lafferriere

Williams

Caughman

et al. 2005

Systems & Control Letters

563

275

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“…They have been the object of extensive analysis and development [6], [7] and [8]. Trajectory tracking of flocks has been recently studied in [9] and [10].…”

Section: Introductionmentioning

confidence: 99%

“…Every node in a graph is considered as an agent which can have information exchange with all or several agents. In [7], [8], and [11], the authors use algebraic graph theory in order to model the information exchange between vehicles. By using this technique several control strategies have been developed.…”

Section: Introductionmentioning

confidence: 99%

Controllability and observability of leader-based multi-agent systems

Lozano

Spong

Guerrero

et al. 2008

2008 47th IEEE Conference on Decision and Control

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Abstract-In this work we analyze the controllability and observability properties of several interconnection configurations such as the chain topology and cyclic topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multi-agent system converges to the constant input reference given only to the leader. Also, it is shown that choosing an appropriated gain, the agents achieve consensus for constant input reference.

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“…Actually, a central point in consensus problems is the connection between the graph structure, defined by the Laplacian Matrix, and delays or distortions in communication links [11]. Switching topology and directional communications are studied in [1], [12], [13], [14], [15], [16], while cooperation based on the notion of coordination variable and coordination function in [17], [18]. There, coordination variable is referred to as the minimal amount of information needed to effect a specific coordination objective, whereas a coordination function parameterizes the effect of the coordination variable on the myopic objectives of each agent.…”

Section: Introductionmentioning

confidence: 99%

Distributed Consensus in Networks of Dynamic Agents

Bauso

Giarré

Pesenti

Proceedings of the 44th IEEE Conference on Decision and Control

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Abstract-Stationary and distributed consensus protocols for a network of n dynamic agents under local information is considered. Consensus must be reached on a group decision value returned by a function of the agents' initial state values. As a main contribution we show that the agents can reach consensus if the value of such a function computed over the agents' state trajectories is time invariant. We use this basic result to introduce a protocol design rule allowing consensus on a quite general set of values. Such a set includes, e.g., any generalized mean of order p of the agents' initial states. We demonstrate that the asymptotical consensus is reached via a Lyapunov approach. Finally we perform a simulation study concerning the alignment maneuver of a team of unmanned air vehicles.

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Stable flocking of mobile agents. II. Dynamic topology

Cited by 366 publications

References 9 publications

Decentralized control of vehicle formations

Decentralized control of vehicle formations

Controllability and observability of leader-based multi-agent systems

Distributed Consensus in Networks of Dynamic Agents

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