Work

Collisionless and decentralized formation control for strings

Year: 2025

Type: article

Abstract: A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: The generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation are guaranteed. Numerical tests assess the theoretical results presented.

Source: Networks and Heterogeneous Media

DOI: 10.3934/nhm.2025036

Authors: Young-Pil Choi, Dante Kalise, Andrés A. Peters

Institutions: Yonsei University, Imperial College London, Adolfo Ibáñez University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: diamond

Funders: Yonsei University, Agencia Nacional de Investigación y Desarrollo, Engineering and Physical Sciences Research Council

Awards: G1434454710, G4055126192, G4291997131, Elastic Manufacturing systems - a platform for dynamic, resilient and cost-effective manufacturing services, DECENTRALIZED FORMATION CONTROL OF MULTI-AGENT SYSTEMS WITH APPLICATIONS TO PLATOONING UNDER UNRELIABLE COMMUNICATIONS.