Control Strategies for Guided Collective Motion

Abstract

Guided collective motion of cooperating vehicles was addressed in this project through the use of heterogeneous guidance gains. Two different approaches were examined for this purpose. In the first we assumed all-to-all communication between agents and proposed strategies that allowed the agent swarm to converge to specified points in the environment. Several strategies were tried out for this purpose using balanced and splay formation objectives. The second approach was to exploit the cyclic pursuit strategy where the connections are with one leader and one follower and a similar heterogeneous gains and hierarchical structure was exploited to achieve convergence at arbitrary points in space.

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Document Details

Document Type
Technical Report
Publication Date
Jan 30, 2015
Accession Number
ADA617908

Entities

People

  • Debasish Ghose

Organizations

  • Indian Institute of Science, Bengaluru

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Aircrafts
  • Algorithms
  • Autonomous Underwater Vehicles
  • Circular Orbits
  • Cognitive Systems Engineering
  • Control Systems
  • Control Systems Engineering
  • Cooperative Control
  • Electronic Mail
  • Engineering
  • Guidance
  • Linear Momentum
  • Lyapunov Functions
  • Multiagent Systems
  • Two Dimensional
  • Unmanned Aerial Vehicles
  • Unmanned Ground Vehicles

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers