Flocking with Obstacle Avoidance

Abstract

In this paper, we provide a dynamic graph theoretical framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs. We provide models of nets and flocks and discuss the realization/embedding issues related to structural nets and flocks. This allows task representation and execution for a network of agents called -agents. We also consider flocking in the presence of multiple obstacles. This task is achieved by introducing two other types of agents called -agents and -agents. This framework enables us to address split/rejoin and squeezing maneuvers for nets/flocks of dynamic agents that communicate with each other. The problems arising from switching topology of these networks of mobile agents make the analysis and design of the decision-making protocols for such networks rather challenging. We provide simulation results that demonstrate the e ectiveness of our theoretical and computational tools.

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Document Details

Document Type
Technical Report
Publication Date
Feb 15, 2003
Accession Number
ADA465112

Entities

People

  • Reza O. Saber

Organizations

  • California Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Aircrafts
  • Boundaries
  • Collision Avoidance
  • Dynamics
  • Embedding
  • Energy
  • Graph Theory
  • Group Velocity
  • Lyapunov Functions
  • Mobile Phones
  • Multiagent Systems
  • Navigation
  • Simulations
  • Three Dimensional
  • Two Dimensional
  • Unmanned Aerial Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Aerospace Engineering
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Distributed Systems and Data Platform Development