Distributed geodesic control laws for flocking of nonholonomic agents

IEEE Transactions on Automatic Control

Volumn 52, Issue 4, 2007, Pages 681-686

  Moshtagh, Nima ^a   Jadbabaie, Ali ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

Cooperative control; Distributed coordination; Flocking; Multiagent systems

Indexed keywords

CONTROL SYSTEMS; DISTANCE MEASUREMENT; GRAPHIC METHODS; MULTI AGENT SYSTEMS; TOPOLOGY;

COOPERATIVE CONTROL; DISTRIBUTED COORDINATION; FLOCKING; PROXIMITY GRAPH;

GEODESY;

EID: 34247371494     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2007.894528     Document Type: Article

References (20)

1. R. W. Beard and V. Stepanyan, "Synchronization of information in distributed multiple vehicle coordinated control," in Proc. IEEE Conf. Decision Control, Dec. 2003, pp. 2029-2034.
2. F. Bullo, R. M. Murray, and A. Sarti, Control on the sphere and reduced attitude stabilization Calif. Inst. Technol., Pasadena, CA, 1995, Tech. Rep. CaltechCDSTR:1995.CIT-CDS-95-005.
3. J. P. Desai, J. P. Ostrowski, and V. Kumar, "Modeling and control of formations of nonholonomic mobile robots," IEEE Trans. Robot. Automat., vol. 17, no. 6, pp. 905-908, Dec. 2001.
4. R. Horn and C. Johnson, Matrix Analysis. Cambridge, U.K.: Cambridge Univ. Press, 1999.
5. A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. Autom. Control, vol. 48, no. 6, pp. 988-1001, Jun. 2003.
6. A. Jadbabaie, N. Motee, and M. Barahona, "On the stability of Kuramoto model of coupled nonlinear oscillators," in Proc. Amer. Control Conf., Jun. 2004, pp. 4296-4301.
7. J. Jeane, N. E. Leonard, and D. Paley, "Collective motion of ringcoupled planar particles," in Proc. 44th IEEE Conf. Decision Control, Seville, Spain, Dec. 2005, pp. 3929-3934.
8. E. W. Justh and P. S. Krishnaprasad, "Equilibria and steering laws for planar formations," Syst. Control Lett., vol. 52, no. 1, pp. 25-38, May 2004.
9. Z. Lin, M. Brouke, and B. Francis, "Local control strategies for groups of mobile autonomous agents," IEEE Trans. Autom. Control, vol. 49, no. 4, pp. 622-629, Apr. 2004.
10. L. Moreau, "Stability of multiagent systems with time-dependent communication links," IEEE Trans. Autom. Control, vol. 50, no. 2, pp. 169-182, Feb. 2005.
11. N. Moshtagh and A. Jadbabaie, Distributed geodesic control laws for flocking of nonholonomic agents [Online]. Available: http://www.seas.upenn.edu/~jadbabai/papers/ tech-note-geodesic-2col-final.pdf
12. R. Olfati-Saber and R. M. Murray, "Consensus problems in networks of agents with switching topology and time-delays," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1520-1533, Sep. 2004.
13. N. E. Leonard, P. Ogren, and E. Morelli, "Cooperative control of mobile sensing networks: Adaptive gradient climbing in a distributed environment," IEEE Trans. Autom. Control, vol. 49, no. 8, pp. 1292-1302, Aug. 2004.
14. S. H. Strogatz, "From Kuramoto to Crawford: Exploring the onset of synchronization in population sof coupled nonlinear oscillators," Physica D, vol. 143, pp. 1-20, 2000.
15. H. G. Tanner, A. Jadbabaie, and G. J. Pappas, "Flocking in teams of nonholonomic agents," in Cooperative Control, ser. Springer Series in Control and Informations Science, S. Morse, N. Leonard, and V. Kumar, Eds. New York: Springer-Verlag, 2004, vol. 309, pp. 229-239, accepted for publication.
16. H. G. Tanner, A. Jadbabaie, and G. J. Pappas, "Flocking in fixed and switching newtorks," IEEE Trans. Autom. Control, 2007, to be published.
17. J. N. Tsitsiklis, "Problems in decentralized decision making and computation," Ph.D. dissertation, Dept. EECS, MIT, Cambridge, MA, 1984.
18. T. Vicsek, A. Czirok, E. B. Jacob, I. Cohen, and O. Schochet, "Novel type of phase transitions in a system of self-driven particles," Phys. Rev. Lett., vol. 75, pp. 1226-1229, 1995.
19. W. Wang and J. J. E. Slotine, On partial contraction analysis for couplled nonlinear oscillators. Tech. Rep. MIT, Nonlinear Syst. Lab., Cambridge, MA, 2003.
20. R. Wattenhofer, L. Li, P. Bahl, and Y. Wang, "Distributed topology control for wireless multihop ad-hoc networks," in Proc. INFOCOM, 2001, pp. 1388-1397.