Group Flocking of Multiple Mobile Agents

摘要：

　　In this paper,we consider group flocking of multi-agent systems in which agents are dispersed to different subgroups.By using local information,the flocking algorithms are proposed to solve group flocking problem in heterogeneous and homogeneous networks,respectively.For each given algorithm,the corresponding criterions are established to ensure both velocity alignment,cohesion of each subgroup,and collision avoidance between any two agents in the whole group.The proposed protocol can be modified to realize the division of agents into any pre-assigned number of subgroups,while solves the traditional flocking problem for each subgroup.Finally,simulation results are presented to verify the effectiveness of our theoretical results.

关键词： Flocking Multiple groups Heterogeneous networks Multi-agent systems

作者: Gangshan Jing Yuanshi Zheng Long Wang

作者单位: Center for Complex Systems,School of Mechano-electronic Engineering,Xidian University,Xian 710071,P Center for Systems and Control,College of Engineering,Peking University,Beijing 100871,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1156-1161

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）