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Stable Flocking of Mobile Agents, Part I: Fixed Topology
Departmental Papers (ESE)
  • Herbert G Tanner, University of New Mexico
  • Ali Jadbabaie, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
Abstract
This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we generate stable flocking motion for the group using a coordination control scheme which gives rise to smooth control laws for the agents. These control laws are a combination of attractive/repulsive and alignment forces, ensuring collision avoidance and cohesion of the group and an aggregate motion along a common heading direction. In this control scheme the topology of the control interconnections is fixed and time invariant. The control policy ensures that all agents eventually align with each other and have a common heading direction while at the same time avoid collisions and group into a tight formation.
Document Type
Conference Paper
Date of this Version
12-9-2003
Comments
Copyright 2003 IEEE. Reprinted from Proceedings of the 42nd IEEE Conference on Decision and Control 2003, Volume 2, pages 2010-2015.

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Citation Information
Herbert G Tanner, Ali Jadbabaie and George J Pappas. "Stable Flocking of Mobile Agents, Part I: Fixed Topology" (2003)
Available at: http://works.bepress.com/george_pappas/215/