Simultaneous-arrival of multiple agents with different targets
In this paper, we study the simultaneous-arrival problem of multi-agent systems, where the multiple agents with distributed protocol will reach same target or different targets. We first introduce the time-estimator for each agent to arrive the target and show the convergence of the time-estimator a...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Conference Paper |
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IEEE Computer Society
2014
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| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/20216 |
| _version_ | 1848750244898013184 |
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| author | Li, R. Shi, Y. |
| author2 | Xu S. |
| author_facet | Xu S. Li, R. Shi, Y. |
| author_sort | Li, R. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | In this paper, we study the simultaneous-arrival problem of multi-agent systems, where the multiple agents with distributed protocol will reach same target or different targets. We first introduce the time-estimator for each agent to arrive the target and show the convergence of the time-estimator algorithm by using Lyapunov Theory and Lasalle's Invariance Principle. On this basis, we then establish the simultaneous-arrival control algorithm for multi-agent systems without obstacle. Furthermore, the simultaneous-arrival algorithm with obstacle avoidance is studied. The convergence analyses are given for the proposed simultaneous-arrival protocols. Finally, the simulation results are presented to demonstrate the effectiveness of our theoretical methods in achieving simultaneous-arrival. |
| first_indexed | 2025-11-14T07:33:45Z |
| format | Conference Paper |
| id | curtin-20.500.11937-20216 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:33:45Z |
| publishDate | 2014 |
| publisher | IEEE Computer Society |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-202162023-02-27T07:34:29Z Simultaneous-arrival of multiple agents with different targets Li, R. Shi, Y. Xu S. Zhao Q Distributed control Multi-agent systems Simultaneous-arrival Time-estimator algorithm In this paper, we study the simultaneous-arrival problem of multi-agent systems, where the multiple agents with distributed protocol will reach same target or different targets. We first introduce the time-estimator for each agent to arrive the target and show the convergence of the time-estimator algorithm by using Lyapunov Theory and Lasalle's Invariance Principle. On this basis, we then establish the simultaneous-arrival control algorithm for multi-agent systems without obstacle. Furthermore, the simultaneous-arrival algorithm with obstacle avoidance is studied. The convergence analyses are given for the proposed simultaneous-arrival protocols. Finally, the simulation results are presented to demonstrate the effectiveness of our theoretical methods in achieving simultaneous-arrival. 2014 Conference Paper http://hdl.handle.net/20.500.11937/20216 10.1109/ChiCC.2014.6896880 IEEE Computer Society restricted |
| spellingShingle | Distributed control Multi-agent systems Simultaneous-arrival Time-estimator algorithm Li, R. Shi, Y. Simultaneous-arrival of multiple agents with different targets |
| title | Simultaneous-arrival of multiple agents with different targets |
| title_full | Simultaneous-arrival of multiple agents with different targets |
| title_fullStr | Simultaneous-arrival of multiple agents with different targets |
| title_full_unstemmed | Simultaneous-arrival of multiple agents with different targets |
| title_short | Simultaneous-arrival of multiple agents with different targets |
| title_sort | simultaneous-arrival of multiple agents with different targets |
| topic | Distributed control Multi-agent systems Simultaneous-arrival Time-estimator algorithm |
| url | http://hdl.handle.net/20.500.11937/20216 |