Please use this identifier to cite or link to this item:
http://hdl.handle.net/2080/1229| Title: | A New Algorithm for Motion Control of Acyclic Minimally Persistent Formation of Mobile Autonomous Agents |
| Authors: | Atta, D Subudhi, B |
| Keywords: | Autonomous agents; Directed graph; Formation control; Leader-follower |
| Issue Date: | 2009 |
| Publisher: | IEEE |
| Citation: | IEEE India Council Conference, INDICON 2009; Ahmedabad; 18 December 2009 through 20 December 2009; Category number CFP09598; Code 79708 |
| Abstract: | This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [4] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest path between its initial & final position during the motion of formation is developed using SQP-a nonlinear optimization technique. |
| URI: | http://dx.doi.org/10.1109/INDCON.2009.5409350 http://hdl.handle.net/2080/1229 |
| Appears in Collections: | Conference Papers |
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