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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Williams, R.K. Sukhatme, G.S. |
| Copyright Year | 2013 |
| Description | Author affiliation: Depts. of Electr. Eng. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA (Williams, R.K.; Sukhatme, G.S.) |
| Abstract | In this paper, we consider the problem of controlling a network of locally interacting mobile agents, subject to a set of non-local topology constraints, towards a group flocking objective. As opposed to switching network links directly in the space of discrete graphs, yielding a divide in spatial configuration and communication topology, we regulate topology through mobility, enabling adjacent agents to retain or deny links spatially on the basis of constraint satisfaction. Specifically, we propose a distributed formulation consisting of a switching control and smooth potential fields for local link discrimination and flocking, coupled with consensus-based coordination over proposed topology changes, yielding transitions in communication that respect non-local constraints and correspond to agent configuration. An analysis of the interplay between the topology consensus and constraint composition, together with a Lyapunov-like convergence argument guarantees the flocking, collision avoidance, and constraint satisfaction properties of the system. Finally, simulations of a novel constrained coordination scenario highlight the correctness and applicability of our proposed methods. |
| Starting Page | 2002 |
| Ending Page | 2007 |
| File Size | 595692 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6630844 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Switches Network topology Topology Nickel Collision avoidance Mobile agents |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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