Flocking for multiple ellipsoidal agents with limited communication ranges
This paper contributes a design of distributed controllers for flocking of mobile agents with an ellipsoidal shape and a limited communication range. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation conditio...
| Main Author: | |
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| Format: | Journal Article |
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Hindawi Publishing Corporation
2013
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| Online Access: | http://hdl.handle.net/20.500.11937/24663 |
| _version_ | 1848751493460525056 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper contributes a design of distributed controllers for flocking of mobile agents with an ellipsoidal shape and a limited communication range. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation condition between the ellipsoidal agents are embedded in novel pairwise potential functions to design flocking control algorithms. The proposed flocking design results in (1) smooth controllers despite of the agents’ limited communication ranges, (2) no collisions between any agents, (3) asymptotic convergence of each agent’s generalized velocity to a desired velocity, and (4) boundedness of the flock size, defined as the sum of all distances between the agents, by a constant. |
| first_indexed | 2025-11-14T07:53:36Z |
| format | Journal Article |
| id | curtin-20.500.11937-24663 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:53:36Z |
| publishDate | 2013 |
| publisher | Hindawi Publishing Corporation |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-246632017-09-13T15:52:04Z Flocking for multiple ellipsoidal agents with limited communication ranges Do, Khac Duc This paper contributes a design of distributed controllers for flocking of mobile agents with an ellipsoidal shape and a limited communication range. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation condition between the ellipsoidal agents are embedded in novel pairwise potential functions to design flocking control algorithms. The proposed flocking design results in (1) smooth controllers despite of the agents’ limited communication ranges, (2) no collisions between any agents, (3) asymptotic convergence of each agent’s generalized velocity to a desired velocity, and (4) boundedness of the flock size, defined as the sum of all distances between the agents, by a constant. 2013 Journal Article http://hdl.handle.net/20.500.11937/24663 10.5402/2013/387465 Hindawi Publishing Corporation fulltext |
| spellingShingle | Do, Khac Duc Flocking for multiple ellipsoidal agents with limited communication ranges |
| title | Flocking for multiple ellipsoidal agents with limited communication ranges |
| title_full | Flocking for multiple ellipsoidal agents with limited communication ranges |
| title_fullStr | Flocking for multiple ellipsoidal agents with limited communication ranges |
| title_full_unstemmed | Flocking for multiple ellipsoidal agents with limited communication ranges |
| title_short | Flocking for multiple ellipsoidal agents with limited communication ranges |
| title_sort | flocking for multiple ellipsoidal agents with limited communication ranges |
| url | http://hdl.handle.net/20.500.11937/24663 |