Decentralized cohesive motion control of multi-agent formation in 3-dimensional space

Authors:
Ran Zhao;Yongguang Yu;Guoguang Wen
Affiliations:
Department of Mathematics, Beijing Jiaotong University, Beijing, China;Department of Mathematics, Beijing Jiaotong University, Beijing, China;Department of Mathematics, Beijing Jiaotong University, Beijing, China
Venue:
AICI'10 Proceedings of the 2010 international conference on Artificial intelligence and computational intelligence: Part I
Year:
2010

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Abstract

In this paper, we generalize a set of decentralized control laws for cohesive motion of 3-dimensional multi-agent formation based on point-agent system model, which has been originally introduced for 2- dimensional formation. According to the numbers of degree of freedom, we investigate the persistency of multi-agent formation system. Then we design the corresponding control laws for the different class agents in the multi-agent formation. As a result, the 3-dimensional persistent formation can move cohesively along the trajectory as the target of the formation moves continuously along the prescribed trajectory. The effectiveness of the proposed control laws is demonstrated via simulation results.