A flocking algorithm with individual agent destinations and without a centralized leader

Brandon J. Wellman; Jesse B. Hoagg

doi:10.1016/j.sysconle.2017.01.006

A flocking algorithm with individual agent destinations and without a centralized leader

Brandon J. Wellman, Jesse B. Hoagg

Mechanical and Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

Abstract

We present a multi-agent control method that addresses the combined problem of flocking and destination seeking. The method is completely decentralized, that is, each agent's controller relies on local sensing to determine the relative positions and velocities of nearby agents but does not rely on a centralized flock leader. Each agent has double-integrator dynamics and a potentially unique destination (i.e., position) that the agent must reach. We demonstrate that the flocking-and-destination-seeking control method accomplishes 2 objectives: (i) if an agent is far from its destination, then that agent flocks with nearby agents, and (ii) if an agent is close to its destination, then that agent approaches its destination. The flocking-and-destination-seeking algorithm is demonstrated with several numerical examples.

Original language	English
Pages (from-to)	57-67
Number of pages	11
Journal	Systems and Control Letters
Volume	102
DOIs	https://doi.org/10.1016/j.sysconle.2017.01.006
State	Published - Apr 1 2017

Bibliographical note

Publisher Copyright:
© 2017

Keywords

Destination seeking
Flocking
Multi-agent systems

ASJC Scopus subject areas

Control and Systems Engineering
General Computer Science
Mechanical Engineering
Electrical and Electronic Engineering

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10.1016/j.sysconle.2017.01.006

Cite this

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abstract = "We present a multi-agent control method that addresses the combined problem of flocking and destination seeking. The method is completely decentralized, that is, each agent's controller relies on local sensing to determine the relative positions and velocities of nearby agents but does not rely on a centralized flock leader. Each agent has double-integrator dynamics and a potentially unique destination (i.e., position) that the agent must reach. We demonstrate that the flocking-and-destination-seeking control method accomplishes 2 objectives: (i) if an agent is far from its destination, then that agent flocks with nearby agents, and (ii) if an agent is close to its destination, then that agent approaches its destination. The flocking-and-destination-seeking algorithm is demonstrated with several numerical examples.",

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AU - Hoagg, Jesse B.

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AB - We present a multi-agent control method that addresses the combined problem of flocking and destination seeking. The method is completely decentralized, that is, each agent's controller relies on local sensing to determine the relative positions and velocities of nearby agents but does not rely on a centralized flock leader. Each agent has double-integrator dynamics and a potentially unique destination (i.e., position) that the agent must reach. We demonstrate that the flocking-and-destination-seeking control method accomplishes 2 objectives: (i) if an agent is far from its destination, then that agent flocks with nearby agents, and (ii) if an agent is close to its destination, then that agent approaches its destination. The flocking-and-destination-seeking algorithm is demonstrated with several numerical examples.

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KW - Multi-agent systems

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JO - Systems and Control Letters

JF - Systems and Control Letters

ER -

A flocking algorithm with individual agent destinations and without a centralized leader

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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