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 |
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| Title of host publication | 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing |
| Edition | PART 1 |
| DOIs | |
| Publication status | Published - 2009 Dec 1 |
| 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 |
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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 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing (PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1). https://doi.org/10.3182/20090921-3-TR-3005.00092