Local control strategies for groups of mobile autonomous agents

著者: Zhiyun Lin, Mireille E. Broucke, Bruce A. Francis - 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) 2003 被引用: 859

The problem is studied of achieving a specified formation among a group of mobile autonomous agents by distributed control. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.