Generation of minimally persistent circle formation for a multi-agent system  

作　　者：罗小元 邵士凯 张玉燕 李绍宝 关新平 刘志新 

机构地区：[1]School of Electrical Engineering,Yanshan University [2]Department of Mechanical and Biomedical Engineering,City University of Hong Kong

出　　处：《Chinese Physics B》2014年第2期614-622,共9页中国物理B（英文版）

基　　金：Project supported by the National Basic Research Program of China (Grant No.2010CB731800);the National Natural Science Foundation of China (Grant Nos.60934003,61074065,and 61375105);the Natural Science Foundation of Hebei Province,China (Grant No.F2012203119)

摘　　要：In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader＇s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n - 3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods.In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader＇s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n - 3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods.

关 键 词：multiagent system formation control minimally persistent graph numbering strategy 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] O157.3[自动化与计算机技术—控制科学与工程]