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  1. International Journal of Control, Automation and Systems
  2. International Journal of Control, Automation and Systems : Volume 12
  3. International Journal of Control, Automation and Systems : Volume 12, Issue 2, April 2014
  4. Potential-function-based shape formation in swarm simulation
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International Journal of Control, Automation and Systems : Volume 15
International Journal of Control, Automation and Systems : Volume 14
International Journal of Control, Automation and Systems : Volume 13
International Journal of Control, Automation and Systems : Volume 12
International Journal of Control, Automation and Systems : Volume 12, Issue 6, December 2014
International Journal of Control, Automation and Systems : Volume 12, Issue 5, October 2014
International Journal of Control, Automation and Systems : Volume 12, Issue 4, August 2014
International Journal of Control, Automation and Systems : Volume 12, Issue 3, June 2014
International Journal of Control, Automation and Systems : Volume 12, Issue 2, April 2014
Pinning control and synchronization on complex dynamical networks
Consensus in multi-agent systems with nonlinear uncertainties under a fixed undirected graph
Robust stability conditions for DMC controller with uncertain time delay
An auto-framing method for stochastic process signal by using a hidden Markov model based approach
Adaptive synchronization on uncertain dynamics of high-order nonlinear multi-agent systems with partition of unity approach
Stabilization region of PD controller for unstable first order process with time delay
Output-feedback control of a class of stochastic nonlinear systems with power growth conditions
Performance enhancement for a class of hysteresis nonlinearities using disturbance observers
Design of explicit model predictive control for constrained linear systems with disturbances
A control method to make LQR robust: A planes cluster approaching mode
Disturbance tolerance and H $_{∞}$ control of port-controlled hamiltonian systems in the presence of actuator saturation
Fixed-order H $_{2}$ controller design for state space polytopic systems
Active fault detection for open loop stable LTI SISO systems
RETRACTED ARTICLE: Immersion and invariance based fault tolerant adaptive spacecraft attitude control
Use of model predictive controller in dual-loop control of three-phase PWM AC/DC converter
Decentralized discrete-time quasi-sliding mode control of uncertain linear interconnected systems
Interval force/position modeling and control of a microgripper composed of two collaborative piezoelectric actuators and its automation
Motion control of a quadruped robot in unknown rough terrain using 3D spring damper leg model
Magnetic mechanical capsule robot for multiple locomotion mechanisms
Virtual target tracking of mobile robot and its application to formation control
Optimization algorithm for PCB assembly of modular mounters
Exploration of unknown object by active touch of robot hand
Wireless network based formation control for multiple agents
Un-symmetric input temperature control by using fuzzy sliding mode controller with gain auto-tuning
A multi-objective decision approach for optimal augmentation and expansion of transmission network
Potential-function-based shape formation in swarm simulation
MIS approach analyzing the controllability of switched boolean networks with higher order
International Journal of Control, Automation and Systems : Volume 12, Issue 1, February 2014
International Journal of Control, Automation and Systems : Volume 11
International Journal of Control, Automation and Systems : Volume 10
International Journal of Control, Automation and Systems : Volume 9
International Journal of Control, Automation and Systems : Volume 8
International Journal of Control, Automation and Systems : Volume 7

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Potential-function-based shape formation in swarm simulation

Content Provider Springer Nature Link
Author Jung, Hahmin Kim, Dong Hun
Copyright Year 2014
Abstract This paper presents a potential-function-based formation shape control scheme for swarm simulation. The potential function is designed to avoid collision among agents, approach a destination, and achieve a certain shape formation around the destination. The agents move in a swarm to the formation position, which is generated from a reference point and the neighboring agents. In the framework, a local minimum case created by combining the potential repulsed from neighboring robots and that attracted from a reference point is presented; herein, a robot escapes from a local minimum using a virtual escape point after recognizing the trapped situation. Similarly, in the proposed framework, for a well-equipped formation shape, potential functions are designed to maintain the same relative distance between neighboring robots on a formation line, which also satisfies scalability for the number of agents. The simulation results show that the proposed approach can effectively construct elliptical, diamond, and heart-shaped formations for swarm agents.
Starting Page 442
Ending Page 449
Page Count 8
File Format PDF
ISSN 15986446
Journal International Journal of Control, Automation and Systems
Volume Number 12
Issue Number 2
e-ISSN 20054092
Language English
Publisher Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date 2017-05-11
Publisher Place Bucheon, Seoul
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Formation control local minimum multiagent systems potential function Control, Robotics, Mechatronics
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Computer Science Applications
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