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首页> 外文期刊>IEEE Transactions on Automatic Control >Forming Circle Formations of Anonymous Mobile Agents With Order Preservation
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Forming Circle Formations of Anonymous Mobile Agents With Order Preservation

机译：通过保留订单形成匿名移动代理的圈子形式

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摘要

We propose distributed control laws for a group of anonymous mobile agents to form desired circle formations when the agents move in the one-dimensional space of a circle. The agents are modeled by kinematic points. They share the common knowledge of the orientation of the circle, but are oblivious and anonymous. Moreover, each agent can only sense the relative positions of its neighboring two agents that are immediately in front of or behind itself. Distributed control strategies are designed for the agents using only the information of the relative positions of their two neighbors and also the given desired distances to its neighboring two agents. To make the control strategies more practical, we discuss the corresponding sampled-data control laws, and utilizing the technique of adopting time-varying gains, we obtain control laws that are able to guide the agents to form the desired circle formation within any given finite time. One feature of the proposed control laws is that they guarantee that the spatial ordering of the agents are preserved throughout the system's evolution, and thus no collision may take place during the process of forming circle formations. Both theoretical analysis and numerical simulations are given to show the effectiveness of the proposed formation control strategies.
机译：我们为一组匿名移动代理建议了分布式控制律，以便当代理在圆的一维空间中移动时形成所需的圆形式。代理是通过运动学点建模的。他们有关于圆的方向的常识，但却是遗忘的和匿名的。此外，每个代理只能感知到其自身紧邻或后面的相邻两个代理的相对位置。仅使用代理的两个邻居的相对位置信息以及与其相邻的两个代理的给定期望距离信息，为代理设计分布式控制策略。为了使控制策略更加实用，我们讨论了相应的采样数据控制律，并利用采用随时间变化的增益的技术，获得了能够指导智能体在任何给定的有限范围内形成期望的圆形成的控制律。时间。所提出的控制定律的一个特征是，它们保证了在整个系统演化过程中都保留了代理的空间顺序，因此在形成圆形地物的过程中不会发生碰撞。理论分析和数值模拟都表明了所提出的地层控制策略的有效性。

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