2020/02/07 by Hossein Rastgoftar, Rastgoftar, Hossein, Ella Atkins +3 · 1 citation
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #Traffic control and management #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2002.03036
openalex publication_date 2020/02/07 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
The continuum deformation leader-follower cooperative control strategy models\nvehicles in a multi-agent system as particles of a deformable body. A desired\ncontinuum deformation is defined based on leaders' trajectories and acquired by\nfollowers in real-time through local communication. The existing continuum\ndeformation theory requires followers to be placed inside the convex simplex\ndefined by leaders. This constraint is relaxed in this paper. We prove that\nunder suitable assumptions any (n+1)(n=1,2,3) vehicles forming an n-D simplex\ncan be selected as leaders while followers, arbitrarily positioned inside or\noutside the leading simplex, can acquire a desired continuum deformation in a\ndecentralized fashion. The paper's second contribution is to assign a\none-to-one mapping between leaders' smooth trajectories and homogeneous\ndeformation features obtained by continuum deformation eigen-decomposition.\nTherefore, a safe and smooth continuum deformation coordination can be planned\neither by shaping homogeneous transformation features or by choosing\nappropriate leader trajectories. This is beneficial to efficiently plan and\nguarantee inter-agent collision avoidance in a large-scale group. A simulation\ncase study is reported in which a virtual convex simplex contains a quadcopter\nvehicle team at any time t; A* search is applied to optimize quadcopter team\ncontinuum deformation in an obstacle-laden environment.\n