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 | |
| State | Published - Apr 1 2017 |
Bibliographical note
Publisher Copyright:© 2017
Funding
This work is supported in part by the National Science Foundation(award number OIA-1539070) and the National Aeronautics and Space Administration(award number NNX10AL96) through NASA Kentucky Space Grant.
| Funders | Funder number |
|---|---|
| NASA Kentucky Space | |
| National Science Foundation Arctic Social Science Program | OIA-1539070 |
| National Aeronautics and Space Administration | NNX10AL96 |
Keywords
- Destination seeking
- Flocking
- Multi-agent systems
ASJC Scopus subject areas
- Control and Systems Engineering
- General Computer Science
- Mechanical Engineering
- Electrical and Electronic Engineering