Non-planar multi-agent formation control using coning graphs

Saba Ramazani; Rastko R. Selmic; Marcio De Queiroz

doi:10.1109/smc.2014.6974402

Non-planar multi-agent formation control using coning graphs

Saba Ramazani
, Rastko R. Selmic
, Marcio De Queiroz

Research output: Contribution to journal › Conference article › peer-review

6 Scopus citations

Abstract

This work provides a solution to a nonplanar multi-agent layered sensing and formation control problem using coning graphs. In particular, the problem addressed consists of one agent coordinating the actions of other interacting agents which are operating in a different plane. The objective is for the agents to cooperatively acquire a pre-defined formation shape using a decentralized control law. The proposed control strategy is based on inter-agent distances for single-integrator agent model and consists of formation acquisition term for non-planar agents. The simulation results that support the proposed approach are presented.

Original language	English
Article number	6974402
Pages (from-to)	3091-3096
Number of pages	6
Journal	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume	2014-January
Issue number	January
DOIs	https://doi.org/10.1109/smc.2014.6974402
State	Published - 2014
Externally published	Yes
Event	2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, United States Duration: Oct 5 2014 → Oct 8 2014

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10.1109/smc.2014.6974402

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title = "Non-planar multi-agent formation control using coning graphs",

abstract = "This work provides a solution to a nonplanar multi-agent layered sensing and formation control problem using coning graphs. In particular, the problem addressed consists of one agent coordinating the actions of other interacting agents which are operating in a different plane. The objective is for the agents to cooperatively acquire a pre-defined formation shape using a decentralized control law. The proposed control strategy is based on inter-agent distances for single-integrator agent model and consists of formation acquisition term for non-planar agents. The simulation results that support the proposed approach are presented.",

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T1 - Non-planar multi-agent formation control using coning graphs

AU - Ramazani, Saba

AU - Selmic, Rastko R.

AU - De Queiroz, Marcio

PY - 2014

Y1 - 2014

N2 - This work provides a solution to a nonplanar multi-agent layered sensing and formation control problem using coning graphs. In particular, the problem addressed consists of one agent coordinating the actions of other interacting agents which are operating in a different plane. The objective is for the agents to cooperatively acquire a pre-defined formation shape using a decentralized control law. The proposed control strategy is based on inter-agent distances for single-integrator agent model and consists of formation acquisition term for non-planar agents. The simulation results that support the proposed approach are presented.

AB - This work provides a solution to a nonplanar multi-agent layered sensing and formation control problem using coning graphs. In particular, the problem addressed consists of one agent coordinating the actions of other interacting agents which are operating in a different plane. The objective is for the agents to cooperatively acquire a pre-defined formation shape using a decentralized control law. The proposed control strategy is based on inter-agent distances for single-integrator agent model and consists of formation acquisition term for non-planar agents. The simulation results that support the proposed approach are presented.

UR - https://www.scopus.com/pages/publications/84938152102

U2 - 10.1109/smc.2014.6974402

DO - 10.1109/smc.2014.6974402

M3 - Conference article

AN - SCOPUS:84938152102

SN - 1062-922X

VL - 2014-January

SP - 3091

EP - 3096

JO - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

JF - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

IS - January

M1 - 6974402

T2 - 2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014

Y2 - 5 October 2014 through 8 October 2014

ER -

Non-planar multi-agent formation control using coning graphs

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