Flocking of Multi-agents in Constrained Environments
Keywords:Multi-agents, Lyapunov-based control scheme, split/rejoin, cooperating, flocking
AbstractFlocking, arguably one of the most fascinating concepts in nature, has in recent times established a growing stature within the field of robotics. In this paper, we control the collective motion of a flock of nonholonomic car-like vehicles in a constrained environment. A continuous centralized motion planner is proposed for split/rejoin maneuvers of the flock via the Lyapunov-based control scheme to anchor avoidance of obstacles intersecting the paths of flockmates. The control scheme inherently utilizes the artificial potential fields, within a new leader-follower framework, to accomplish the desired formations and reformations of the flock. The effectiveness of the proposed control laws are demonstrated through computer simulations.
How to Cite
Sharma, B. N., Vanualailai, J., & Chand, U. (2009). Flocking of Multi-agents in Constrained Environments. European Journal of Pure and Applied Mathematics, 2(3), 401–425. Retrieved from https://ejpam.com/index.php/ejpam/article/view/263
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