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Multiagent Coordination Via Distributed Pattern Matching.
- Source :
-
IEEE Transactions on Automatic Control . Aug2019, Vol. 64 Issue 8, p3210-3225. 16p. - Publication Year :
- 2019
-
Abstract
- This paper addresses a distributed formation control problem of multiple mobile agents using relative positions and local bearings. First, a formation control method via distributed pattern matching is proposed, which is executed over each clique (i.e., complete induced subgraph) of a network. It is shown that this method achieves the best control performance for a given desired formation and network topology in the following sense: The closest formation to the desired one is achieved among all formations achievable by distributed and relative control over the network. Next, a necessary and sufficient network condition is derived under which the desired formation can be obtained. It turns out that a new concept of connectivity, called clique rigidity, plays a crucial role. Finally, the effectiveness of the proposed method is illustrated through simulations in both two and three dimensional spaces. [ABSTRACT FROM AUTHOR]
- Subjects :
- *PATTERN matching
*MULTIAGENT systems
*TOPOLOGY
Subjects
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 64
- Issue :
- 8
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 137857843
- Full Text :
- https://doi.org/10.1109/TAC.2018.2885491