Abstract
This paper addresses the real-time control of multiple agents in the presence of disturbances and non-convex collision avoidance constraints. The goal is to guarantee the convergence towards a tight formation. A single optimal control problem is solved based on a prediction of the future evolution of the system and the resulting controller is implemented in a centralized way. At the supervision level, it is shown that the decision about which agents should take on what role in the desired tight formation is equivalent with a classical pairing (or task assignment) problem. Furthermore, the pairing is re-evaluated at each iteration. The proposed method exhibits effective performance validated through some illustrative examples.
The research of Ionela Prodan is financially supported by the EADS Corporate Foundation (091-AO09-1006).
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Prodan, I., Olaru, S., Stoica, C., Niculescu, SI. (2012). On the Tight Formation for Multi-agent Dynamical Systems. In: Jezic, G., Kusek, M., Nguyen, NT., Howlett, R.J., Jain, L.C. (eds) Agent and Multi-Agent Systems. Technologies and Applications. KES-AMSTA 2012. Lecture Notes in Computer Science(), vol 7327. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30947-2_60
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DOI: https://doi.org/10.1007/978-3-642-30947-2_60
Publisher Name: Springer, Berlin, Heidelberg
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