Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing
A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system also preserves initial communication connectivity and guarantees no collisions between the agents. The format...
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| Format: | Journal Article |
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Agora University Editing House-- CCC Publications, R & D Agora
2012
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| Online Access: | http://hdl.handle.net/20.500.11937/3000 |
| _version_ | 1848744109127237632 |
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| author | Do, Khac |
| author_facet | Do, Khac |
| author_sort | Do, Khac |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system also preserves initial communication connectivity and guarantees no collisions between the agents. The formation control design is based on smooth step functions, potential functions, and the Lyapunov direct method. The proposed formation control system is applied to solve a gradient climbing problem where the gradient average of a distributed field is estimated over a bounded region using the field measurement by the agents. |
| first_indexed | 2025-11-14T05:56:14Z |
| format | Journal Article |
| id | curtin-20.500.11937-3000 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T05:56:14Z |
| publishDate | 2012 |
| publisher | Agora University Editing House-- CCC Publications, R & D Agora |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-30002017-01-30T10:27:45Z Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing Do, Khac gradient climbing collision avoidance Formation control A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system also preserves initial communication connectivity and guarantees no collisions between the agents. The formation control design is based on smooth step functions, potential functions, and the Lyapunov direct method. The proposed formation control system is applied to solve a gradient climbing problem where the gradient average of a distributed field is estimated over a bounded region using the field measurement by the agents. 2012 Journal Article http://hdl.handle.net/20.500.11937/3000 Agora University Editing House-- CCC Publications, R & D Agora restricted |
| spellingShingle | gradient climbing collision avoidance Formation control Do, Khac Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing |
| title | Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing |
| title_full | Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing |
| title_fullStr | Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing |
| title_full_unstemmed | Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing |
| title_short | Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing |
| title_sort | formation control of multiple agents with preserving connectivity and its application to gradient climbing |
| topic | gradient climbing collision avoidance Formation control |
| url | http://hdl.handle.net/20.500.11937/3000 |