Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/71940
Title: Target region tracking for multi-agent systems
Authors: Ren, B. 
Ge, S.S. 
Li, Y.
Jiao, Z.
Liu, J.
Lee, T.H. 
Issue Date: 2009
Source: Ren, B.,Ge, S.S.,Li, Y.,Jiao, Z.,Liu, J.,Lee, T.H. (2009). Target region tracking for multi-agent systems. Proceedings of 2009 7th Asian Control Conference, ASCC 2009 : 123-128. ScholarBank@NUS Repository.
Abstract: In this paper, we develop decentralized control to drive a swarm of mobile agents into a moving target region while avoiding collisions among themselves. This is achieved with the help of target potential functions and collision avoidance potential functions in Lyapunov synthesis. A basic control framework is designed on a kinematic model. There are neither requirements for pre-specified desired trajectories outside the target region nor desired pinpoint positions inside the target region . The framework docs not depend on a fixed ordering of agents, and thus, flexibility is improved. Simulation results illustrate the performance of the proposed approach. ©2009 ACA.
Source Title: Proceedings of 2009 7th Asian Control Conference, ASCC 2009
URI: http://scholarbank.nus.edu.sg/handle/10635/71940
ISBN: 9788995605691
Appears in Collections:Staff Publications

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