NDLI: Pseudo-rigid formation design with curvature limitations

Content Provider	IEEE Xplore Digital Library
Author	Liu, W.-K. Wang, L.-S.
Copyright Year	2009
Description	Author affiliation: Institute of Applied Mechanics, National Taiwan University, Taipei, China (Liu, W.-K.; Wang, L.-S.)
Abstract	A virtual structure, called the pseudo-rigid formation, for a multi-agent system has been proposed in [1] to deal with the formation problem. For 2-D problems, the underlying configuration space becomes the product of the two dimensional real vector space and the general linear group $(∝^{2}$ × GL(2)). It was shown that the objective function in the optimal design for collision avoidance can be represented in terms of the system variables. The optimal formation can be then obtained, which is allowed to translate, rotate, stretch, and shear. However, the design in [1] does not take the limitations on the motion of the agents, such as an airplane or a car, into consideration. In this paper, the limitation of the curvature of the trajectory of the vehicles is imposed and accommodated in the path planning algorithm. While the designed optimal paths may not be the most efficient, they are the most appropriate such that the agents are capable to follow.
Starting Page	3045
Ending Page	3050
File Size	1951471
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400751
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Multiagent systems Two dimensional displays Vectors Collision avoidance Airplanes Trajectory Vehicles Path planning
Content Type	Text
Resource Type	Article

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