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Flocking of multi-agent dynamic systems with virtual leader having the reduced number of informed agents
, Article Transactions of the Institute of Measurement and Control ; Volume 35, Issue 8 , 2013 , Pages 1104-1115 ; 01423312 (ISSN) ; Haeri, M ; Sharif University of Technology
2013
Abstract
In this paper, three fundamental properties of a potential field-based flocking algorithm, i.e. merging of neighbouring graphs during the system evolution, collision avoidance and convergence of position of the centre of mass of informed agents to that of virtual leader are discussed. Next, these properties are utilized to determine required number of informed agents based on initial position of uninformed ones and consequently reduce the domain of search in optimization problems defined for finding the optimal number of required informed agents. Finally, a new optimization framework is proposed, which benefits Voronoi diagrams in order to reduce the number of informed agents required for...