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In this paper a separation maintenance controller is developed for continuously steering a purposive, dynamic group of mobile agents away from each other in a confined, cluttered environment. The controller allows conflict-free, simultaneous use of space by the agents. It has a decentralized form that is constructed in conformity with the artificial life approach to behavior synthesis. The G-type...
This paper addresses how to optimally decentralize the execution of a multi-agent mission defined at the trajectory-level, where the information flow among agents in the system are limited by a predefined network topology. Each agent's decentralized controllers are constrained to be parameterized functions of the relative distances and angles between itself and its neighbors. Starting with a discussion...
This paper addresses a problem of sweep coverage by a network of self-deployed autonomous vehicles. We propose a decentralized motion coordination algorithm for the vehicles to accomplish the deployment objective of sweep coverage. The control algorithm is developed theoretically using the ideas of nearest neighbor rules, and its effectiveness is illustrated via numerical simulations.
This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [Tolga, et al; 2005] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest...
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