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|Title:||Target region tracking for multi-agent systems||Authors:||Ren, B.
|Issue Date:||2009||Citation:||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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