Target region tracking for multi-agent systems

Beibei Ren, Shuzhi Sam Ge, Yanan Li, Zongxia Jiao, Jinkun Liu, Tong Heng Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


In this paper, we develop decentralized control to drive a swarm of mobile agents into a moving target region while avoiding collisions among themselves. This is achieved with the help of target potential functions and collision avoidance potential functions in Lyapunov synthesis. A basic control framework is designed on a kinematic model. There are neither requirements for pre-specified desired trajectories outside the target region nor desired pinpoint positions inside the target region . The framework docs not depend on a fixed ordering of agents, and thus, flexibility is improved. Simulation results illustrate the performance of the proposed approach.

Original languageEnglish
Title of host publicationProceedings of 2009 7th Asian Control Conference, ASCC 2009
Number of pages6
StatePublished - 2009
Event2009 7th Asian Control Conference, ASCC 2009 - Hong Kong, China
Duration: Aug 27 2009Aug 29 2009

Publication series

NameProceedings of 2009 7th Asian Control Conference, ASCC 2009


Conference2009 7th Asian Control Conference, ASCC 2009
CityHong Kong


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