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.
Full text not available from this repository.Abstract
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 |
| URI: | https://repository.usp.ac.fj/id/eprint/1501 |
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