On the Tight Formation for Multi-Agent Dynamical Systems

Ionela Prodan 1 Sorin Olaru 1 Cristina Stoica 1 Silviu-Iulian Niculescu 2, 3
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
3 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
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.
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Submitted on : Monday, November 12, 2012 - 3:00:43 PM
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Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu. On the Tight Formation for Multi-Agent Dynamical Systems. Agent and Multi-Agent Systems. Technologies and Applications, Springer, pp.554-565, 2012, Lecture Notes in Computer Science. Volume 7327, ⟨10.1007/978-3-642-30947-2_60⟩. ⟨hal-00750830⟩



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