A new definition of formation with an algorithm

Guisheng Zhai, Junya Takeda, Tomoaki Kobayashi, Joe Imae

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume2
EditionPART 1
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2nd IFAC International Conference on Intelligent Control Systems and Signal Processing - Istanbul
Duration: 2009 Sep 212009 Sep 23

Other

Other2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
CityIstanbul
Period09/9/2109/9/23

Fingerprint

Multi agent systems

Keywords

  • Decentralized control
  • Follower
  • Formation
  • Framer
  • Multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Zhai, G., Takeda, J., Kobayashi, T., & Imae, J. (2009). A new definition of formation with an algorithm. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 2) https://doi.org/10.3182/20090921-3-TR-3005.00092

A new definition of formation with an algorithm. / Zhai, Guisheng; Takeda, Junya; Kobayashi, Tomoaki; Imae, Joe.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 2 PART 1. ed. 2009.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zhai, G, Takeda, J, Kobayashi, T & Imae, J 2009, A new definition of formation with an algorithm. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 2, 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing, Istanbul, 09/9/21. https://doi.org/10.3182/20090921-3-TR-3005.00092
Zhai G, Takeda J, Kobayashi T, Imae J. A new definition of formation with an algorithm. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 2. 2009 https://doi.org/10.3182/20090921-3-TR-3005.00092
Zhai, Guisheng ; Takeda, Junya ; Kobayashi, Tomoaki ; Imae, Joe. / A new definition of formation with an algorithm. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 2 PART 1. ed. 2009.
@inproceedings{4b162df11068405da70d903847f24635,
title = "A new definition of formation with an algorithm",
abstract = "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.",
keywords = "Decentralized control, Follower, Formation, Framer, Multi-agent systems",
author = "Guisheng Zhai and Junya Takeda and Tomoaki Kobayashi and Joe Imae",
year = "2009",
doi = "10.3182/20090921-3-TR-3005.00092",
language = "English",
isbn = "9783902661661",
volume = "2",
booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
edition = "PART 1",

}

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

Y1 - 2009

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

VL - 2

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

ER -