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 language | English (US) |
|---|---|
| Title of host publication | 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings |
| Pages | 824-830 |
| Number of pages | 7 |
| DOIs | |
| State | Published - Sep 2 2013 |
| Event | 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Atlanta, GA, United States Duration: May 28 2013 → May 28 2013 |
Publication series
| Name | 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings |
|---|
Other
| Other | 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 |
|---|---|
| Country | United States |
| City | Atlanta, GA |
| Period | 5/28/13 → 5/28/13 |
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All Science Journal Classification (ASJC) codes
- Aerospace Engineering
Cite this
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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 proceeding › Conference contribution
TY - GEN
T1 - Constrained formation protocols for networked multiagent systems
AU - De La Torre, Gerardo
AU - Yucelen, Tansel
AU - Johnson, Eric
PY - 2013/9/2
Y1 - 2013/9/2
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84883085574&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84883085574&partnerID=8YFLogxK
U2 - 10.1109/ICUAS.2013.6564766
DO - 10.1109/ICUAS.2013.6564766
M3 - Conference contribution
AN - SCOPUS:84883085574
SN - 9781479908172
T3 - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
SP - 824
EP - 830
BT - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
ER -