Cart (Loading....) | Create Account
Close category search window
 

Flocking for Multiple Elliptical Agents With Limited Communication Ranges

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Khac Duc Do ; Sch. of Mech. Eng., Univ. of Western Australia, Crawley, WA, Australia

In existing flocking and coordination control systems of multiple agents, an agent is considered as a single point or a circular disk. For agents with a long and narrow shape, fitting them to circular disks results in a problem with the large conservative area. This paper presents a design of distributed controllers for flocking of N mobile agents with an elliptical shape and with limited communication ranges. A separation condition for elliptical agents is first derived. Smooth or p-times differentiable step functions are then introduced. These functions and the separation condition between the elliptical agents are embedded in novel potential functions to design control algorithms for flocking. The controllers guarantee 1) no switchings in the controllers despite the agents' limited communication ranges; 2) no collisions between any agents; 3) asymptotic convergence of each agent's generalized velocity to a desired velocity; and 4) boundedness of the flock size, which is defined as the sum of all generalized distances between the agents, by a constant.

Published in:

Robotics, IEEE Transactions on  (Volume:27 ,  Issue: 5 )

Date of Publication:

Oct. 2011

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.