Obstacle avoidance flocking motion in multi-agent systems with limited sensing radius and heterogeneous input constraints. (17th January 2023)

• Record Type: Journal Article
• Authors: Ávila-Martínez, Eber J.
• Is Part Of: Advanced robotics. Volume 37:Number 1/2(2023)
• Page Start: 61
• Page End: 72
• Publication Date: 2023-01-17
• Subjects: Multi-agent systems -- flocking -- proximity graphs -- heterogeneous input constraints -- obstacle avoidance; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2022.2112075
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : This paper addresses the leaderless and leader-followers flocking motion problems of multi-agent systems in a workspace with obstacles. We consider inertial agents with equally limited communication radius and heterogeneous input constraints. Using the notion of proximity graphs, we provide distributed controllers to induce the desired flocking behaviour. Unlike previous results, our controller designs do not require predicted states or a target determination scheme and allow edge deletions. Also, by taking advantage of the group's heterogeneity, our controllers allow agents with less restrictive input constraints to compensate for the control effort that their less capable neighbours cannot provide. We illustrate the effectiveness of our proposals through numerical simulations. GRAPHICAL ABSTRACT: UF0001