Homogeneous Deformation without Interagent Communication

  • Hossein Rastgoftar


In this chapter, basics of MAS evolution as continuum deformation are presented, where an MAS is treated as particles of a continuum deforming under a homogeneous transformation. It is shown how a homogeneous deformation is acquired by the agents via no interagent communication. In this regard, agents’ desired positions, defined by a homogeneous deformation in \(\mathbb{R}^{n}\), are uniquely specified by the trajectories chosen by n + 1 leaders. Followers acquire the desired homogeneous mapping only by knowing leaders’ positions. Evolution of the followers with nonlinear constrained dynamics under a homogeneous transformation is investigated in this chapter. Homogeneous transformation of an MAS containing agents with linear dynamics is also studied.


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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Hossein Rastgoftar
    • 1
  1. 1.Department of Aerospace EngineeringUniversity of Michigan Ann ArborAnn ArborUSA

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