Abstract
This article studies the trochoidal pattern formation in multi-agent system. The agents are modeled using double integrator dynamics and the trajectory of the agents resembles trochoidal patterns. The trochoidal pattern formation is attained using a distributed consensus strategy and the interaction among the agents is captured using a graph topology. In this article, we consider the complex interaction represented by weighted directed graphs. We derive the necessary condition of achieving the trochoidal pattern by appropriately placing the eigenvalues of the system. Simulations are carried out to demonstrate the developed theory.
| Original language | English |
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| Title of host publication | Australasian Conference on Robotics and Automation 2019, ACRA 2019 |
| Volume | 2019-December |
| Publication status | Published - 2019 |
| Event | Australasian Conference on Robotics and Automation 2019 - University of Adelaide, Adelaide, Australia Duration: 9 Dec 2019 → 11 Dec 2019 http://www.araa.asn.au/conferences/acra-2019 |
Publication series
| Name | Australasian Conference on Robotics and Automation |
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| ISSN (Print) | 1448-2053 |
Conference
| Conference | Australasian Conference on Robotics and Automation 2019 |
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| Abbreviated title | ACRA 2019 |
| Country/Territory | Australia |
| City | Adelaide |
| Period | 9/12/19 → 11/12/19 |
| Internet address |
Keywords
- Cooperative control
- Multi-agent systems
- Pattern formation
- Trochoids