On a hierarchical control strategy for multi-agent formation without reflection
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Sugie, Toshiharu; Anderson, Brian; Sun, Zhiyong; Dong, Huichao
Description
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by...[Show more]
dc.contributor.author | Sugie, Toshiharu | |
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dc.contributor.author | Anderson, Brian | |
dc.contributor.author | Sun, Zhiyong | |
dc.contributor.author | Dong, Huichao | |
dc.coverage.spatial | Miami, USA | |
dc.date.accessioned | 2020-02-07T04:40:38Z | |
dc.date.created | December 17-19 2018 | |
dc.identifier.isbn | 9781538613955 | |
dc.identifier.uri | http://hdl.handle.net/1885/201542 | |
dc.description.abstract | This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by considering a potential function which consists of both distance error and signed triangle area terms. However, it seems to be challenging to apply it to formations with more than four agents. This paper shows a hierarchical control strategy which can be applicable to any number of agents based on the above type of potential function and a formation shaping incorporating a grouping of equilateral triangles, so that all controlled distances are in fact the same. A key analytical result and some numerical results are shown to demonstrate the effectiveness of the proposed method. | |
dc.description.sponsorship | This work is supported by JSPS KAKENHI Grant number JP17H03281. The work of B. D. O. Anderson is supported by Data-61 CISRO, and by the Australian Research Council’s Discovery Project DP-160104500. | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en_AU | |
dc.publisher | IEEE | |
dc.relation.ispartof | Proceedings of the IEEE Conference on Decision and Control | |
dc.relation.ispartofseries | 57th IEEE Conference on Decision and Control, CDC 2018 | |
dc.rights | ©2018 IEEE | |
dc.title | On a hierarchical control strategy for multi-agent formation without reflection | |
dc.type | Conference paper | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
dc.date.issued | 2019 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | u3102795xPUB1209 | |
local.publisher.url | https://ieeexplore.ieee.org/ | |
local.type.status | Accepted Version | |
local.contributor.affiliation | Sugie, Toshiharu, Kyoto University | |
local.contributor.affiliation | Anderson, Brian, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Sun, Zhiyong, Lund University | |
local.contributor.affiliation | Dong, Huichao, Kyoto University | |
dc.relation | http://purl.org/au-research/grants/arc/DP160104500 | |
local.bibliographicCitation.startpage | 2023 | |
local.bibliographicCitation.lastpage | 2028 | |
local.identifier.doi | 10.1109/CDC.2018.8619404 | |
local.identifier.absseo | 810104 - Emerging Defence Technologies | |
dc.date.updated | 2019-11-25T07:30:03Z | |
local.identifier.scopusID | 2-s2.0-85062190851 | |
dcterms.accessRights | Open Access | |
dc.provenance | https://www.ieee.org/publications/rights/author-posting-policy.html..."Authors may post their version of an article as accepted for publication in an IEEE periodical or conference proceedings." from the publisher site (as at 10/02/2020). | |
Collections | ANU Research Publications |
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