NDLI: Multi-agent formation maintenance and target tracking

Content Provider	IEEE Xplore Digital Library
Author	Xiaoyu Cai de Queiroz, M.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., Louisiana State Univ., Baton Rouge, LA, USA (Xiaoyu Cai; de Queiroz, M.)
Abstract	In this paper, we introduce distance-based control laws for the multi-agent formation maintenance and target tracking problems. Using a single-integrator agent model, the proposed controls consist of a formation acquisition term, dependent on the potential function and graph rigidity matrix, and a formation maintenance or target tracking term. The control laws are only a function of the relative position of agents in an infinitesimally and minimally rigid graph, and either the desired velocity of the formation or the target's relative position to the leader and absolute velocity. A Lyapunov analysis shows that the origin of the distance error dynamics is locally exponentially stable, and, as a consequence, formation maintenance or target tracking can be readily proven.
Starting Page	2521
Ending Page	2526
File Size	407374
Page Count	6
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580213
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Target tracking Maintenance engineering Graph theory Multi-agent systems Position measurement Vectors Trajectory
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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