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On the Formation Control of Multiagent Systems Under Nearly Cyclic Pursuit

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

We consider the problem of formation control of multiple agents under the nearly cyclic pursuit strategy. A control law is designed under this strategy for n agents to rendezvous at a point and also form a specific formation, dictated by an extra agent, called beacon. We derive constraint on the gain in k–circulant matrix to make the system stable. Formation tracking for n agents is achieved by applying an exogenous input to the beacon. We prove that the agents in nearly cyclic interaction are controllable under the beacon. Simulations and analytical results demonstrate the effectiveness of the proposed method.

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Acknowledgments

This research was supported in part by the University Research Grant, UBD/PNC2/2/RG/1(259).

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Authors and Affiliations

  1. Faculty of Science, The More Than One Robotics Laboratory, University of Brunei Darussalam, Brunei, Asia

    Muhammad Iqbal & Trung Dung Ngo

Authors
  1. Muhammad Iqbal
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  2. Trung Dung Ngo
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Corresponding author

Correspondence to Trung Dung Ngo .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Iqbal, M., Ngo, T.D. (2016). On the Formation Control of Multiagent Systems Under Nearly Cyclic Pursuit. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_41

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_41

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

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