Flocking algorithm with multi-target tracking for multi-agent systems

Authors:
Xiaoyuan Luo;Shaobao Li;Xinping Guan
Affiliations:
Department of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;Department of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;Department of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
Venue:
Pattern Recognition Letters
Year:
2010

Citing 4
Cited 0

Flocks, herds and schools: A distributed behavioral model

SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Spatio-angular order in populations of self-aligning objects: formation of oriented patches

Physica D
Using Artificial Physics to Control Agents

ICIIS '99 Proceedings of the 1999 International Conference on Information Intelligence and Systems
Distributed, Physics-Based Control of Swarms of Vehicles

Autonomous Robots

Quantified Score

Hi-index	0.10

Visualization

Abstract

This paper investigates a flocking algorithm with multi-target tracking for multi-agent systems. It is supposed that every target can accept a certain number of agents. Which target is chosen by an agent is determined by the distances from the agent to the targets and the number of agents accepted by targets. Based on whether agents move toward the same target or toward separate targets, two kinds of potential functions are presented to carry out the flocking algorithm. Then the inputs of the dynamic system can be obtained. Under the driving of the inputs, agents with the same target can make a flocking during the tracking process, and the agents with different targets separate from each other. A time-varying parameter is designed to control the maximum velocity of agents in the proposed algorithm. Lyapunov stability theorem is applied to prove the stability of the dynamic system. Finally, simulation results verify the effectiveness of the proposed algorithm.