Brief paper: Finite-time multi-agent deployment: A nonlinear PDE motion planning approach

Authors:
Thomas Meurer;Miroslav Krstic
Affiliations:
Automation and Control Institute, Vienna University of Technology, Gusshausstrasse 27-29, 1040 Vienna, Austria;Department of Mechanical and Aerospace Engineering, University of California at San Diego, La Jolla, CA 92093-0411, USA
Venue:
Automatica (Journal of IFAC)
Year:
2011

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Abstract

The systematic flatness-based motion planning using formal power series and suitable summability methods is considered for the finite-time deployment of multi-agent systems into planar formation profiles along predefined spatial-temporal paths. Thereby, a distributed-parameter setting is proposed, where the collective leader-follower agent dynamics is modeled by two boundary controlled nonlinear time-varying PDEs governing the motion of an agent continuum in the plane. The discretization of the PDE model directly induces a decentralized communication and interconnection structure for the multi-agent system, which is required to achieve the desired spatial-temporal paths and deployment formations.