cohesive motion control algorithm for formation of multiple autonomous agents凝聚力的运动控制算法,形成多个自治代理.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2010, Article ID 360925, 12 pages doi:10.1155/2010/360925 Research Article Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents Debabrata Atta,1 Bidyadhar Subudhi,1 and Madan M. Gupta2 1 Centre of Industrial Electronics Robotics, Department of Electrical Engineering, National Institute of Technology Rourkela, Rourkela 768018, India 2 Intelligent Systems Research Laboratory, College of Engineering, University of Saskatchewan, Saskatoon, SK, Canada S7N 5A9 Correspondence should be addressed to Bidyadhar Subudhi, bidyadharnitrkl@ Received 2 October 2009; Accepted 31 May 2010 Academic Editor: Noriyasu Homma Copyright © 2010 Debabrata Atta et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agent. A rigid and constraint consistent graph is called persistent graph. A persistent graph is minimally persistent if it is persistent, and no edge can be removed without losing its persistence. An acyclic (free of cycles in its sensing pattern) minimally persistent graph of Leader-Follower structure has been considered here which can be constructed from an initial Leader-Follower seed (initial graph with two vertices, one is Leader and another one is First Follower and one edge in between them is directed towards Le