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Flocking of multi-agents in constrained environment

Sharma, Bibhya N. and Vanualailai, Jito and Chand, Utesh (2009) Flocking of multi-agents in constrained environment. European Journal of Pure and Applied Mathematics, 2 (3). pp. 401-425.

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Flocking, arguably one of the most fascinating concepts in nature, has in recent times established a growing stature within the field of robotics. In this paper, we control the collective motion of a flock of nonholonomic car-like vehicles in a constrained environment. A continuous centralized motion planner is proposed for split/rejoin maneuvers of the flock via the Lyapunov-based control scheme to anchor avoidance of obstacles intersecting the paths of flockmates. The control scheme inherently utilizes the artificial potential fields, within a new leader-follower framework, to accomplish the desired formations and reformations of the flock. The effectiveness of the proposed control laws are demonstrated through computer simulations.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Neha Harakh
Date Deposited: 25 May 2009 04:30
Last Modified: 18 Jul 2012 02:44

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