Geometric pattern formation with coordinated double-integrator agents

Jerome Moses M, Arpita Sinha, Hoam Chung

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

Abstract

This paper deals with the problem of geometric pattern formation by a group of mobile autonomous agents. The patterns are formed by the trajectories of the agents modeled with double integrator dynamics. The patterns can either be closed or can cover the entire space. We build upon an existing consensus law, by introducing self position feedback and study the collective motion of a team of agents. The patterns are not only aesthetically appealing but can also be used in civilian applications like search, exploration and surveillance. There is no restriction on the underlying graph topology. The control law manipulates the location of the eigenvalues of the overall system to achieve the pattern. We present simulation results to validate the developed theory.

Original languageEnglish
Title of host publicationIFAC PapersOnLine
EditorsMihoko Niitsuma
PublisherElsevier
Pages172-177
Number of pages6
DOIs
Publication statusPublished - Nov 2018
EventIFAC Symposium on Robot Control 2018 - Budapest, Hungary
Duration: 27 Aug 201830 Aug 2018
Conference number: 12th

Publication series

NameIFAC-PapersOnLine
PublisherElsevier
Number22
Volume51
ISSN (Print)2405-8963

Conference

ConferenceIFAC Symposium on Robot Control 2018
Abbreviated titleSYROCO 2018
CountryHungary
CityBudapest
Period27/08/1830/08/18

Keywords

  • cooperative control
  • formation control
  • multi-agent systems
  • pattern formation

Cite this

M, J. M., Sinha, A., & Chung, H. (2018). Geometric pattern formation with coordinated double-integrator agents. In M. Niitsuma (Ed.), IFAC PapersOnLine (pp. 172-177). (IFAC-PapersOnLine; Vol. 51, No. 22). Elsevier. https://doi.org/10.1016/j.ifacol.2018.11.537