Multiagent flocking with formation in a constrained environment |
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Authors: | Yao LU Yi GUO and Zhaoyang DONG |
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Affiliation: | 1. Department of Electrical and Computer Engineering, Stevens Institute of Technology, Castle Point, Hoboken, NJ07030, USA 2. Department of Electrical Engineering, Hong Kong Polytechnic University, Hong Kong, China |
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Abstract: | We consider the problem of controlling a group of mobile agents to form a designated formation while
flocking within a constrained environment. We first propose a potential field based method to drive the agents to move in
connection with their neighbors, and regulate their relative positions to achieve the specific formation. The communication
topology is preserved during the motion. We then extend the method to flocking with environmental constraints. Stability
properties are analyzed to guarantee that all agents eventually form the desired formation while flocking, and flock
safely without collision with the environment boundary. We verify our algorithm through simulations on a group of agents
performing maximum coverage flocking and traveling through an unknown constrained environment. |
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Keywords: | Multiagent system Formation control Flocking |
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