NDLI: Formation Coordination for the Propagation of a Group of Mobile Agents via Self-Mobile Localization

Content Provider	IEEE Xplore Digital Library
Author	Ji-Hwan Son Hyo-Sung Ahn
Copyright Year	2007
Abstract	In this paper, we provide formation coordination algorithms for a group of mobile agents via novel self-mobile localization. The main goal of the algorithms is to propagate a group of agents along a given reference trajectory without any global measurements from the initially known positions of the agents. The key idea of formation coordination is to calculate the position of a mobile agent using more than three agents fixed for a while during its movement; that is, the fixed agents act as reference nodes, whereas a moving agent is to be localized based on its own equipment for measuring the current position on the global reference frame. In this task, one of the main challenges is to evaluate the positions of mobile agents so that the desired formation could be achieved on the basis of the calculated position information. Based on the calculated position from locally connected reference agents, the mobile agents follow the given reference trajectory with respect to the global frame. After completing the movement of the mobile agent, the mobile agent is fixed, and then, it is used as one of the reference nodes, whereas one of the fixed agents is selected and switched to the next mobile agent. By repeating this process, all the agents sequentially move along the reference trajectory. The main idea of the formation coordination established in this paper is verified by experimental tests.
Sponsorship	IEEE Systems Council
Starting Page	1285
Ending Page	1298
Page Count	14
File Size	1695691
File Format	PDF
ISSN	19328184
Volume Number	9
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile agents Trajectory Mobile robots Robot kinematics Switches Position measurement wireless sensor networks Formation coordination localization multi-agents systems self-mobile localization
Content Type	Text
Resource Type	Article
Subject	Computer Networks and Communications Control and Systems Engineering Information Systems Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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