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http://hdl.handle.net/2080/1205
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| Title: | A New Algorithm for Motion Control of Leader-Follower Formation of Mobile Autonomous Agents |
| Authors: | Atta, D
Subudhi, B |
| Keywords: | Formation Control,
Autonomous Agents,
Leader-Follower,
Motion Control,
Directed Graph |
| Issue Date: | 2010 |
| Citation: | International Journal of Computer Applications (0975 - 8887), 2010 |
| Abstract: | This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called
follower, to its neighbouring agents. A rigid and constraint consistent graph is called persistent graph. A persistent graph is minimally persistent if it is persistent and no edge can be removed without losing its persistence. An acyclic
(free of cycles in its sensing pattern) minimally persistent graph of Leader-Follower structure has been considered here and which can be constructed from an initial Leader- Follower seed (initial graph with two vertices, one is Leader and another one is First Follower and one edge in
between them is directed towards Leader) by Henneberg sequence (a procedure of growing a graph) containing only vertex additions. A set of nonlinear optimization based decentralized control l... |
| URI: | http://hdl.handle.net/2080/1205 |
| Appears in Collections: | Journal Articles
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| subudhi1.pdf | | 542Kb | Adobe PDF | View/Open |
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