Flocking Control of Groups of Mobile Autonomous Agents via Local Feedback

Simple item page
dc.creatorWang, Long
dc.date2005-02-16
dc.date.accessioned2026-07-07T08:06:42Z
dc.date.available2026-07-07T08:06:42Z
dc.descriptionThis paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces. By using the control laws, all agent velocities asymptotically approach the desired velocity, collisions can be avoided between agents, and the final tight formation minimizes all agent potentials. Moreover, we prove that the velocity of the center of mass is always equal to the desired velocity or exponentially converges to the desired value. Furthermore, we study the motion of the group when the velocity damping is taken into account. In this case, we can properly modify the control laws to generate the same stable flocking motion. Finally, for the case that not all agents know the desired final velocity, we show that the desired flocking motion can still be obtained. Numerical simulations are worked out to illustrate our theoretical results.
dc.identifierhttps://arxiv.org/abs/math/0502342
dc.identifierhttp://arxiv.org/abs/math/0502342
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/130699
dc.subjectStatistics Theory
dc.subjectDynamical Systems
dc.subject93
dc.titleFlocking Control of Groups of Mobile Autonomous Agents via Local Feedback
dc.typetext

Files

Collections

arXiv