Stable Flocking of Mobile Agents, Part I: Fixed Topology
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General Robotics, Automation, Sensing and Perception Laboratory
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This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we generate stable flocking motion for the group using a coordination control scheme which gives rise to smooth control laws for the agents. These control laws are a combination of attractive/repulsive and alignment forces, ensuring collision avoidance and cohesion of the group and an aggregate motion along a common heading direction. In this control scheme the topology of the control interconnections is fixed and time invariant. The control policy ensures that all agents eventually align with each other and have a common heading direction while at the same time avoid collisions and group into a tight formation.
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Copyright 2003 IEEE. Reprinted from Proceedings of the 42nd IEEE Conference on Decision and Control 2003, Volume 2, pages 2010-2015. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.