NDLI: Formation Distance Problem in Multi-Agents Control

Content Provider	IEEE Xplore Digital Library
Author	Li Yang Tang Gongyou Wang Peidong
Copyright Year	2012
Abstract	A new problem named formation distance problem (FDP) in multi-agents formation control is presented, with the aim to minimize the sum of distance all the agents traveled during every formation rebuilding process. By defining the formation distance matrix (FDM), we prove the FDP is an NP-hard problem. A recursion algorithm is described to exact solve the FDP, whose time complexity and space complexity are too large. In order to simplify the calculation, a so-called intelligent ant colony optimization (ACO) algorithm is used to solve this problem. The FDP is converted to modified traveling salesman problem (TSP) using topology knowledge firstly. Then the distance each agent traveled in the formation process is changed to the length between two nodes in the graph. Finally, the problem is converted to graph traversal problem, and a modified ACO algorithm is proposed to solve the FDP. Numerical Simulation results show the effectiveness of the presented algorithm.
Starting Page	181
Ending Page	184
File Size	179734
Page Count	4
File Format	PDF
ISBN	9781467304702
DOI	10.1109/ICICTA.2012.52
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-01-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Ant colony optimization multi-agents control NP-hard problem Computational modeling Simulation ant colony optimization formation distance problem Frequency division multiplexing formation control Vehicles
Content Type	Text
Resource Type	Article

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