Referenced Items are not available for this document.
This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [Tolga, et al; 2005] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest path between its initial & final position during the motion of formation is developed using SQP-a nonlinear optimization technique.
Published in:
India Conference (INDICON), 2009 Annual IEEE
Date of Conference: 18-20 Dec. 2009
- Page(s):
- 1 - 6
- E-ISBN :
- 978-1-4244-4859-3
- Print ISBN:
- 978-1-4244-4858-6
- INSPEC Accession Number:
- 11137279
- Conference Location :
- Gujarat
- Digital Object Identifier :
- 10.1109/INDCON.2009.5409350
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