2016/01/14 by Anoop Jain, Jain, Anoop, Debasish Ghose +1
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Nonlinear Dynamics and Pattern Formation #Slime Mold and Myxomycetes Research #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1601.03479
openalex publication_date 2016/01/14 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective motions with the heading angles of the agents synchronized or balanced. In synchronization, the agents and their centroid have a common velocity direction, while in balancing, the movement of agents causes the location of the centroid to become stationary. The agents considered are initially moving at unit speed around individual circles at different angular velocities. It is assumed that the agents are subjected to limited communication constraints, and exchange relative information according to a time-invariant undirected graph. We present suitable feedback control laws for each of these motion coordination tasks by considering a second-order rotational dynamics of the agent. Simulations are given to illustrate the theoretical findings.