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Externally Excited Coordination of Autonomous Formations

Shames, Iman; Yu, Changbin (Brad); Fidan, Baris; Anderson, Brian

Description

Inspired by the recent "Robot Sheepdog Project" in the literature, in this paper a new method for coordination of multi-agent systems moving in a 2-dimensional region with the obstacles along a collision free trajectory is presented. A two level decentralized control scheme is proposed. At lower level, for the agents within the formation, "the sheep", the only concern is to keep that of their formation shape intact and avoid inter-agent collision. At the higher level, an intelligent agent, "the...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
URI: http://hdl.handle.net/1885/21499
Source: Proceedings of Mediterranean Conference on Control and Automation 2007
DOI: 10.1109/MED.2007.4433849

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