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A New Algorithm for Motion Control of Acyclic Minimally Persistent Formation of Mobile Autonomous Agents

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2 Author(s)
Atta, D. ; Dept. of Electr. Eng., Nat. Inst. of Technol., Rourkela, India ; Subudhi, B.

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