Distributed Connectivity Maintenance in Multi-Agent Systems with Field of View Interactions
Distributed Connectivity Maintenance in Multi-Agent Systems with Field of View Interactions
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DOI：
10.23919/acc.2019.8814457
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发表时间：
2019-07
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影响因子：
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通讯作者：
Matteo Santilli;Pratik Mukherjee;A. Gasparri;Ryan K. Williams
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文献类型：
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作者：
Matteo Santilli;Pratik Mukherjee;A. Gasparri;Ryan K. Williams
在本文中，我们考虑的问题，协调多智能体团队，以保持连接的拓扑结构，同时配备有限的视野传感器。应用基于潜力的控制框架，并假设代理交互是由三角形几何编码，我们推导出一个分布式控制律的基础上两个非线性函数，点到线的距离和多元高斯，以实现拓扑控制目标。此外，我们证明了有向图的条件，所提出的控制策略实现系统的目标。最后，数值模拟证实了理论研究结果。
In this paper, we consider the problem of coordinating a multi-agent team to maintain a connected topology while equipped with limited field of view sensors. Applying the potential-based control framework and assuming agent interaction is encoded by a triangular geometry, we derive a distributed control law based on two non-linear functions, the point-to-line distance and the multivariate Gaussian, in order to achieve the topology control objective. Furthermore, we demonstrate a condition on digraphs for which the proposed control strategy achieves the system objective. Finally, numerical simulations are provided to corroborate the theoretical findings.