DSpace@nitr >
National Institue of Technology- Rourkela >
Journal Articles >

Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/1205

Full metadata record

DC FieldValueLanguage
contributor.authorAtta, D-
contributor.authorSubudhi, B-
date.accessioned2010-03-19T10:56:49Z-
date.available2010-03-19T10:56:49Z-
date.issued2010-
identifier.citationInternational Journal of Computer Applications (0975 - 8887), 2010en
identifier.urihttp://hdl.handle.net/2080/1205-
description.abstractThis 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 laws for mobile autonomous point agents in plane have been proposed. An infinitesimal deviation in formation shape created by continuous motion of Leader is compensated by corresponding continuous motion of other agents fulfilling the shortest path criteria.en
format.extent555808 bytes-
format.mimetypeapplication/pdf-
language.isoen-
subjectFormation Control,en
subjectAutonomous Agents,en
subjectLeader-Follower,en
subjectMotion Control,en
subjectDirected Graphen
titleA New Algorithm for Motion Control of Leader-Follower Formation of Mobile Autonomous Agentsen
typeArticleen
Appears in Collections:Journal Articles

Files in This Item:

File Description SizeFormat
subudhi1.pdf542KbAdobe PDFView/Open

Show simple item record

All items in DSpace are protected by copyright, with all rights reserved.

 

Powered by DSpace Feedback