Local control strategies for groups of mobile autonomous agents |
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| Authors: | Zhiyun Lin Broucke M. Francis B. |
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| Affiliation: | Dept. of Electr. & Comput. Eng., Univ. of Toronto, Ont., Canada; |
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| Abstract: | The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied. |
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