Constrained formation protocols for networked multiagent systems

Gerardo De La Torre, Tansel Yucelen, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper introduces a new formation framework for networked multiagent systems that can be used for obstacle avoidance. It is shown that the proposed framework minimizes a cost function while satisfying state and control constraints. Furthermore, agents converge to a formation such that the difference in the Laplacian potential of the constrained and desired formation is locally minimized. The proposed framework relies on an easily implementable local optimization process, whose computation load is independent on the network size. Therefore, the framework is scalable and decentralized. The proposed framework can be easily integrated into existing multiagent system guidance protocols in order to avoid obstacles. Several numerical examples are provided to demonstrate the efficacy of the proposed method.

Original languageEnglish (US)
Title of host publication2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
Pages824-830
Number of pages7
DOIs
StatePublished - Sep 2 2013
Event2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Atlanta, GA, United States
Duration: May 28 2013May 28 2013

Publication series

Name2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings

Other

Other2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013
CountryUnited States
CityAtlanta, GA
Period5/28/135/28/13

Fingerprint

Multi agent systems
Collision avoidance
Cost functions

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering

Cite this

De La Torre, G., Yucelen, T., & Johnson, E. (2013). Constrained formation protocols for networked multiagent systems. In 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings (pp. 824-830). [6564766] (2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings). https://doi.org/10.1109/ICUAS.2013.6564766
De La Torre, Gerardo ; Yucelen, Tansel ; Johnson, Eric. / Constrained formation protocols for networked multiagent systems. 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings. 2013. pp. 824-830 (2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings).
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De La Torre, G, Yucelen, T & Johnson, E 2013, Constrained formation protocols for networked multiagent systems. in 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings., 6564766, 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings, pp. 824-830, 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013, Atlanta, GA, United States, 5/28/13. https://doi.org/10.1109/ICUAS.2013.6564766

Constrained formation protocols for networked multiagent systems. / De La Torre, Gerardo; Yucelen, Tansel; Johnson, Eric.

2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings. 2013. p. 824-830 6564766 (2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper introduces a new formation framework for networked multiagent systems that can be used for obstacle avoidance. It is shown that the proposed framework minimizes a cost function while satisfying state and control constraints. Furthermore, agents converge to a formation such that the difference in the Laplacian potential of the constrained and desired formation is locally minimized. The proposed framework relies on an easily implementable local optimization process, whose computation load is independent on the network size. Therefore, the framework is scalable and decentralized. The proposed framework can be easily integrated into existing multiagent system guidance protocols in order to avoid obstacles. Several numerical examples are provided to demonstrate the efficacy of the proposed method.

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De La Torre G, Yucelen T, Johnson E. Constrained formation protocols for networked multiagent systems. In 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings. 2013. p. 824-830. 6564766. (2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings). https://doi.org/10.1109/ICUAS.2013.6564766