Proceedings of the American Control Conference Arlington, VA June 25-27, 2001 Feasible Formations of Multi-Agent Systems Paulo Tabuada 2 George J. Pappas a Pedro Lima 2 2Instituto de Sistemas e Robdtica Instituto Superior T5cnico 1049-001 large(p) of Portugal - Portugal {tabuada, pal}@isr, ist. utl. pt 3Department of EE University of Pennsylvania Philadelphia, PA 19104 pappasgOee, upenn, edu schema entity Formations of multi- broker systems, such as satellites and aircraft, pick out that individual agents overeat their kinematic equations maculation constantly maintain- ing inter-agent constraints. In this paper, we develop a arrogant fashion model for studying formations of multi- agent systems. In particular, we parcel out undirected formations for centralized formations and directe d for- mations for decentralized formations. In for each one case, we determine differential geometric conditions that guar- antee formation feasibility given over the individual agent kinematics. Our framework also enables us to ex- leaflet a littler assure system that describes the for- mation kinematics while maintaining wholly formation con- straints.
1 Introduction Advances in communication and numeration have en- abled the distributed control of multi-agent systems. This philosophy has resulted in next multiplication a! uto- mated driveway systems [9], coordination of aircraft in future air concern management systems [8], as well as formation firm aircraft, satellites, and multiple mo- freshness robots [2, 3, 7, 4]. The control of multiple homogeneous or heterogeneous agents raises cardinal questions regarding the for- mation control of a group of agents. Multi-agent forma- tions require individual agents to satisfy their kinemat- ics while constantly satisfying inter-agent...If you need to get a full essay, order it on our website:
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