Complex Laplacian and pattern formation in multi-agent systems

摘要：

The paper studies the problem of pattern formation on spatial multi-agent systems. It is shown that complexvalued graph Laplacians in pattern formation are as important as the real one for consensus. First, formation patterns with four degrees of freedom (translation, rotation, and scaling) can be characterized by the null space of complex Laplacians associated with the sensing graph of networked agents. Second, formation patterns can be achieved via simple linear interaction rules related to complex Laplacians and the system can be stabilized by pre-multipling a stabilizing matrix. Several graphical and algebraic conditions are obtained for formation control of spatial multi-agent systems with their interaction topology modeled by an undirected graph.

关键词： Multi-agent systems formation control complex Laplacian

作者: Lili Wang Zhimin Han Zhiyun Lin Gangfeng Yan

作者单位: Asus Intelligent Systems Lab, College of Electrical EngineeringZhejiang University, 38 Zheda Road, H Asus Intelligent Systems Lab, College of Electrical Engineering Zhejiang University, 38 Zheda Road,

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 628-633

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）