Loading...

Flocking of multi-agent dynamic systems with virtual leader having the reduced number of informed agents

Atrianfar, H ; Sharif University of Technology | 2013

664 Viewed
  1. Type of Document: Article
  2. DOI: 10.1177/0142331213483304
  3. Publisher: 2013
  4. Abstract:
  5. 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 velocity convergence of the whole group. This optimization framework reduces computational complexity in the cost of lower optimality
  6. Keywords:
  7. Facility location function ; Informed agent ; Velocity alignment ; Facility locations ; Focking ; Flocking algorithms ; Fundamental properties ; Initial set ; Optimization framework ; Optimization problems ; Virtual leader ; Instruments ; Measurements ; Optimization
  8. Source: Transactions of the Institute of Measurement and Control ; Volume 35, Issue 8 , 2013 , Pages 1104-1115 ; 01423312 (ISSN)
  9. URL: http://tim.sagepub.com/content/35/8/1104