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arXiv · 2102.13621

Collisionless and Decentralized Formation Control for Strings

Young-Pil Choi·Dante Kalise·Andrés A. Peters
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Abstract

A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation are guaranteed. Numerical tests assess the theoretical results presented.

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BibTeXRIS

Young-Pil Choi, Dante Kalise, Andrés A. Peters. 2021-02-26. Collisionless and Decentralized Formation Control for Strings. https://arxiv.org/abs/2102.13621

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