Abstract:
We propose a decentralized control law for multi-agent formations in two dimensions that allows the participating vehicles to display intricate periodic and quasi-periodi...Show MoreMetadata
Abstract:
We propose a decentralized control law for multi-agent formations in two dimensions that allows the participating vehicles to display intricate periodic and quasi-periodic geometric patterns. Inspired by the "standard" consensus protocol ẋ = -Lx, these controls rely only on the relative position between the networked agents which are neighbors in the underlying communication graph. Several examples are presented, resulting in non-trivial geometric patterns described by trochoidal curves, similar to those generated by kids around the world using a spirograph. These paths can be useful for coordinated, distributed surveillance and monitoring applications, as well as for the sake of their own aesthetical beauty.
Published in: Proceedings of the 2011 American Control Conference
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
ISBN Information: