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 | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 2 |
| Edition | PART 1 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
| Event | 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing - Istanbul Duration: 2009 Sep 21 → 2009 Sep 23 |
Other
| Other | 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing |
|---|---|
| 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
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 proceeding › Conference contribution
}
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 -