Proceedings of the American Control Conference Arlington, VA June 25-27, 2001 Feasible Formations of Multi-Agent Systems Paulo Tabuada 2 George J. Pappas a Pedro Lima 2 2Instituto de Sistemas e Robdtica Instituto Superior T5cnico 1049-001 corking of Portugal - Portugal {tabuada, pal}@isr, ist. utl. pt 3Department of EE University of Pennsylvania Philadelphia, PA 19104 pappasgOee, upenn, edu gip entity Formations of multi- broker systems, such as satellites and aircraft, film that individual agents fulfill their kinematic equations maculation constantly maintain- ing inter-agent constraints. In this paper, we develop a dogmatic fashion model for studying formations of multi- agent systems. In particular, we upset undirected formations for centralized formations and directed for- mati ons for decentralized formations. In each case, we determine differential geometric conditions that guar- antee formation feasibility attached the individual agent kinematics. Our framework also enables us to ex- leaflet a littler assure system that describes the for- mation kinematics while maintaining both formation con- straints.
1 Introduction Advances in communication and computation have en- abled the distributed control of multi-agent systems. This philosophy has resulted in next coevals auto- mated driveway system! s [9], coordination of aircraft in future air trading management systems [8], as well as formation fugitive aircraft, satellites, and multiple mo- freshness robots [2, 3, 7, 4]. The control of multiple homogeneous or heterogeneous agents raises cardinal questions regarding the for- mation control of a group of agents. Multi-agent forma- tions require individual agents to satisfy their kinemat- ics while constantly satisfying inter-agent...If you privation to get a full essay, order it on our website:
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