NDLI: Continuum evolution of multi agent systems under a polyhedral communication topology

Content Provider	IEEE Xplore Digital Library
Author	Rastgoftar, H. Jayasuriya, S.
Copyright Year	2014
Description	Author affiliation: Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA (Jayasuriya, S.) \|\| Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA (Rastgoftar, H.)
Abstract	In this paper, evolution of a multi agent system (MAS) in n-D space where n+1 or more leader agents located on the boundary guide the MAS is studied. We consider the MAS as a deformable body whose motion can be prescribed by a homogeneous map determined by the initial and current positions of the leaders. Each follower agent learns this leader prescribed motion plan by local communication with adjacent agents. In previous work we assumed that each follower communicates with n+1 adjacent agent [1-7]. Here we relax that constraint to include more than 3 adjacent agents by choosing a polyhedral communication topology where the vertices are local agents that are adjacent to a follower agent i. The polytope encloses the follower agent i and is the union of $m_{i}$ sub-polyhedra, with one of the n+1 vertices occupied by agent i. $m_{i}$ volume weights are defined based on the initial position of follower i and the set of adjacent agents to. The motion proceeds by updating the position of every follower agent such that volume weights in intermediate configurations of the MAS are close to the initial volume weights. This update strategy maneuvers the MAS to its final desired formation as a homogenous map of its initial configuration.
Starting Page	5115
Ending Page	5120
File Size	1288525
Page Count	6
File Format	PDF
ISBN	9781479932726
ISSN	07431619
e-ISBN	9781479932740
DOI	10.1109/ACC.2014.6859293
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Cost function Topology Transforms Protocols Vectors Educational institutions Transient analysis Decentralized control Control of communication networks
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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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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