TY - GEN
T1 - Target region tracking for multi-agent systems
AU - Ren, Beibei
AU - Ge, Shuzhi Sam
AU - Li, Yanan
AU - Jiao, Zongxia
AU - Liu, Jinkun
AU - Lee, Tong Heng
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=71449128040&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:71449128040
SN - 9788995605691
T3 - Proceedings of 2009 7th Asian Control Conference, ASCC 2009
SP - 123
EP - 128
BT - Proceedings of 2009 7th Asian Control Conference, ASCC 2009
T2 - 2009 7th Asian Control Conference, ASCC 2009
Y2 - 27 August 2009 through 29 August 2009
ER -