Continuum Deformation of Multi-Agent Systems
This monograph presents new algorithms for formation control of multi-agent systems (MAS) based on principles of continuum mechanics. Beginning with an overview of traditional methods, the author then introduces an innovative new approach whereby agents o
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Continuum Deformation of Multi-Agent Systems
Hossein Rastgoftar
Continuum Deformation of Multi-Agent Systems
Hossein Rastgoftar Department of Aerospace Engineering University of Michigan Ann Arbor Ann Arbor, MI, USA
ISBN 978-3-319-41593-2 DOI 10.1007/978-3-319-41594-9
ISBN 978-3-319-41594-9 (eBook)
Library of Congress Control Number: 2016951932 Mathematics Subject Classification (2010): 93C10, 93C35, 93C95, 70E60 © Springer International Publishing AG 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This book is published under the trade name Birkhäuser, www.birkhauser-science.com The registered company is Springer International Publishing AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
To my Parents
Preface
Formation control in MASs has received a great deal of attention during the past two decades. Formation control has found different applications including formation flight, transportation engineering, air traffic control, missions in hazardous environment, environmental sampling, and gaming. Some advantages of collaboration among the agents and preserving a formation are reducing cost of the system, increasing robustness and efficiency of the system, and having better fault tolerance, structural flexibility, and capability of reconfiguration. The most recent algorithms for formation control are consensus algorithm, partial differential equation (PDE)-based, and containment control. These approaches, which have been inspired by heat diffusion problems, are interesting because they apply Laplacian control to achieve a global coordination among the agents through local interagent communication. I started my PhD research by studying features of these three promising methods. After coming to a deep understanding of the fundamentals of these approaches, I attempted to find solutions for the following three problems: Avoidance of interagent collision: The consensus model and the containment control meth
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