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 publication2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
EditionPART 1
DOIs
Publication statusPublished - 2009 Dec 1
Event2nd IFAC International Conference on Intelligent Control Systems and Signal Processing - Istanbul, Turkey
Duration: 2009 Sep 212009 Sep 23

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume2
ISSN (Print)1474-6670

Conference

Conference2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
CountryTurkey
CityIstanbul
Period09/9/2109/9/23

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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