Formation Tracking With Size Scaling of Double Integrator Agents
This paper considers the problem of distributed formation scaling of Multi-Agent Systems (MASs) under a switching-directed graph where the scaling of formation is determined by one leader agent. A directed-sensing graph where neighboring agents exchange their relative displacement and a directed-co...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Brno University of Technology
2024-06-01
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| Series: | Mendel |
| Subjects: | |
| Online Access: | http://www.mendel-journal.org/index.php/mendel/article/view/303 |
| _version_ | 1797303433011658752 |
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| author | Djati Wibowo Djamari Asif Awaludin Halimurrahman Halimurrahman Rommy Hartono Patria Rachman Hakim Adi Wirawan Haikal Satrya Utama Tiara Kusuma Dewi |
| author_facet | Djati Wibowo Djamari Asif Awaludin Halimurrahman Halimurrahman Rommy Hartono Patria Rachman Hakim Adi Wirawan Haikal Satrya Utama Tiara Kusuma Dewi |
| author_sort | Djati Wibowo Djamari |
| collection | DOAJ |
| description |
This paper considers the problem of distributed formation scaling of Multi-Agent Systems (MASs) under a switching-directed graph where the scaling of formation is determined by one leader agent. A directed-sensing graph where neighboring agents exchange their relative displacement and a directed-communication graph where neighboring agents exchange the information about formation scaling factor and velocity factors are used in this paper. One leader agent which decides the formation scaling factor as well as the velocity of the group is chosen among agents. It is shown that under a switching-directed graph, the group of agents achieves the desired formation pattern with the desired scaling factor as well as the desired group's velocity if the union of the sensing and communication graphs contains a directed spanning tree.
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| first_indexed | 2024-03-07T23:52:49Z |
| format | Article |
| id | doaj.art-453b01839f334d24947cf8a297979862 |
| institution | Directory Open Access Journal |
| issn | 1803-3814 2571-3701 |
| language | English |
| last_indexed | 2024-03-07T23:52:49Z |
| publishDate | 2024-06-01 |
| publisher | Brno University of Technology |
| record_format | Article |
| series | Mendel |
| spelling | doaj.art-453b01839f334d24947cf8a2979798622024-02-18T23:28:24ZengBrno University of TechnologyMendel1803-38142571-37012024-06-0130110.13164/mendel.2024.1.023Formation Tracking With Size Scaling of Double Integrator AgentsDjati Wibowo Djamari0Asif Awaludin1Halimurrahman Halimurrahman2Rommy Hartono3Patria Rachman Hakim4Adi Wirawan5Haikal Satrya Utama6Tiara Kusuma Dewi7Mechanical Engineering Study Program, Sampoerna University, IndonesiaResearch Center for Climate and Atmosphere, National Research and Innovation Agency, IndonesiaResearch Center for Climate and Atmosphere, National Research and Innovation Agency, IndonesiaResearch Center for Satellite Technology, National Research and Innovation Agency, IndonesiaResearch Center for Satellite Technology, National Research and Innovation Agency, IndonesiaResearch Center for Aeronautics Technology, National Research and Innovation Agency, IndonesiaMechanical Engineering Study Program, Sampoerna University, IndonesiaMechanical Engineering Study Program, Sampoerna University, Indonesia This paper considers the problem of distributed formation scaling of Multi-Agent Systems (MASs) under a switching-directed graph where the scaling of formation is determined by one leader agent. A directed-sensing graph where neighboring agents exchange their relative displacement and a directed-communication graph where neighboring agents exchange the information about formation scaling factor and velocity factors are used in this paper. One leader agent which decides the formation scaling factor as well as the velocity of the group is chosen among agents. It is shown that under a switching-directed graph, the group of agents achieves the desired formation pattern with the desired scaling factor as well as the desired group's velocity if the union of the sensing and communication graphs contains a directed spanning tree. http://www.mendel-journal.org/index.php/mendel/article/view/303Scalable FormationDouble IntegratorSwitching NetworkFormation Tracking |
| spellingShingle | Djati Wibowo Djamari Asif Awaludin Halimurrahman Halimurrahman Rommy Hartono Patria Rachman Hakim Adi Wirawan Haikal Satrya Utama Tiara Kusuma Dewi Formation Tracking With Size Scaling of Double Integrator Agents Mendel Scalable Formation Double Integrator Switching Network Formation Tracking |
| title | Formation Tracking With Size Scaling of Double Integrator Agents |
| title_full | Formation Tracking With Size Scaling of Double Integrator Agents |
| title_fullStr | Formation Tracking With Size Scaling of Double Integrator Agents |
| title_full_unstemmed | Formation Tracking With Size Scaling of Double Integrator Agents |
| title_short | Formation Tracking With Size Scaling of Double Integrator Agents |
| title_sort | formation tracking with size scaling of double integrator agents |
| topic | Scalable Formation Double Integrator Switching Network Formation Tracking |
| url | http://www.mendel-journal.org/index.php/mendel/article/view/303 |
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