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Generation of minimally persistent circle formation for a multi-agent system 总被引:1,自引:0,他引:1 下载免费PDF全文
In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader's interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n - 3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods. 相似文献
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This paper researched into some methods for generating min-weighted
rigid graphs and min-weighted persistent graphs. Rigidity and
persistence are currently used in various studies on coordination
and control of autonomous multi-agent formations. To minimize the
communication complexity of formations and reduce energy
consumption, this paper introduces the rigidity matrix and presents three
algorithms for generating min-weighted rigid and min-weighted
persistent graphs. First, the existence of a min-weighted rigid graph
is proved by using the rigidity matrix, and algorithm 1 is presented
to generate the min-weighted rigid graphs. Second, the algorithm 2
based on the rigidity matrix is presented to direct the edges of
min-weighted rigid graphs to generate min-weighted persistent
graphs. Third, the formations with range constraints are considered,
and algorithm 3 is presented to find whether a framework can form a
min-weighted persistent formation. Finally, some simulations are
given to show the efficiency of our research. 相似文献
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