TY - GEN
T1 - A new definition of formation with an algorithm
AU - Zhai, Guisheng
AU - Takeda, Junya
AU - Kobayashi, Tomoaki
AU - Imae, Joe
PY - 2009/12/1
Y1 - 2009/12/1
N2 - In this paper, we propose a new definition of formation for multi-agent systems. More precisely, we consider the kind of formation where several leading agents (called "framers") form a desired convex shape while other agents (called "followers") are required to be inside that shape. Under the assumption that all agents except the leading ones are controlled depending on local information, we propose an algorithm achieving the above-mentioned formation. Finally, we give a numerical example to demonstrate effectiveness of the algorithm.
AB - In this paper, we propose a new definition of formation for multi-agent systems. More precisely, we consider the kind of formation where several leading agents (called "framers") form a desired convex shape while other agents (called "followers") are required to be inside that shape. Under the assumption that all agents except the leading ones are controlled depending on local information, we propose an algorithm achieving the above-mentioned formation. Finally, we give a numerical example to demonstrate effectiveness of the algorithm.
KW - Decentralized control
KW - Follower
KW - Formation
KW - Framer
KW - Multi-agent systems
UR - http://www.scopus.com/inward/record.url?scp=79955735761&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79955735761&partnerID=8YFLogxK
U2 - 10.3182/20090921-3-TR-3005.00092
DO - 10.3182/20090921-3-TR-3005.00092
M3 - Conference contribution
AN - SCOPUS:79955735761
SN - 9783902661661
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
T2 - 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
Y2 - 21 September 2009 through 23 September 2009
ER -