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Aggregation in a swarm of non-holonomic agents using artificial potentials and sliding mode control

Fidan, Baris

Description

In this paper we consider the aggregation of swarms whose agents are moving in 2-dimensions with a non-holonomic agent dynamics. We approach this problem using artificial potentials and sliding mode control. The main contribution is the extension of the recent results in the literature based on a similar approach for simple integrator agent dynamics model to a significantly more realistic and more difficult setting with non-holonomic unicycle agent dynamics model. In particular, we design a...[Show more]

dc.contributor.authorFidan, Baris
dc.coverage.spatialTBC
dc.date.accessioned2015-12-10T23:26:38Z
dc.date.available2015-12-10T23:26:38Z
dc.date.createdJuly 2-5 2007
dc.identifier.isbn9783952417386
dc.identifier.urihttp://hdl.handle.net/1885/67854
dc.description.abstractIn this paper we consider the aggregation of swarms whose agents are moving in 2-dimensions with a non-holonomic agent dynamics. We approach this problem using artificial potentials and sliding mode control. The main contribution is the extension of the recent results in the literature based on a similar approach for simple integrator agent dynamics model to a significantly more realistic and more difficult setting with non-holonomic unicycle agent dynamics model. In particular, we design a continuous-time control scheme via a constructive analysis based on artificial potentials and sliding mode control techniques. The effectiveness of the proposed design for solving the swarm aggregation problem is demonstrated analytically as well as via a set of simulation results.
dc.publisherConference Organising Committee
dc.relation.ispartofseries2007 9th European Control Conference, ECC 2007
dc.source2007 European Control Conference, ECC 2007
dc.titleAggregation in a swarm of non-holonomic agents using artificial potentials and sliding mode control
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2007
local.identifier.absfor091299 - Materials Engineering not elsewhere classified
local.identifier.ariespublicationa383154xPUB1546
local.type.statusPublished Version
local.contributor.affiliationFidan, Baris, College of Engineering and Computer Science, ANU
local.bibliographicCitation.startpage1485
local.bibliographicCitation.lastpage1491
dc.date.updated2015-12-10T11:01:36Z
local.identifier.scopusID2-s2.0-84927725950
CollectionsANU Research Publications

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