A new definition of formation with an algorithm

Guisheng Zhai; Junya Takeda; Tomoaki Kobayashi; Joe Imae

doi:10.3182/20090921-3-TR-3005.00092

A new definition of formation with an algorithm

Guisheng Zhai, Junya Takeda, Tomoaki Kobayashi, Joe Imae

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
Edition	PART 1
DOIs	https://doi.org/10.3182/20090921-3-TR-3005.00092
Publication status	Published - 2009 Dec 1
Externally published	Yes
Event	2nd IFAC International Conference on Intelligent Control Systems and Signal Processing - Istanbul, Turkey Duration: 2009 Sep 21 → 2009 Sep 23

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	2
ISSN (Print)	1474-6670

Conference

Conference	2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
Country	Turkey
City	Istanbul
Period	09/9/21 → 09/9/23

Keywords

Decentralized control
Follower
Formation
Framer
Multi-agent systems

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20090921-3-TR-3005.00092

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Cite this

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

2nd IFAC International Conference on Intelligent Control Systems and Signal Processing. PART 1. ed. 2009. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhai, G, Takeda, J, Kobayashi, T & Imae, J 2009, A new definition of formation with an algorithm. in 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 2, 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing, Istanbul, Turkey, 09/9/21. https://doi.org/10.3182/20090921-3-TR-3005.00092

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