Achieving formations under medium access, relative position and velocity constraints

M Vemulapalli; S Dasgupta; J.G Kuhl

doi:10.1109/ICCAS.2008.4694537

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Conference proceeding

Achieving formations under medium access, relative position and velocity constraints

M Vemulapalli, S Dasgupta and J.G Kuhl

2008 International Conference on Control, Automation and Systems, pp.127-130

10/2008

DOI: 10.1109/ICCAS.2008.4694537

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Abstract

We consider the distributed control of multi-agent systems that must collaborate to achieve a formation specified by relative positions between agents and a constant velocity. The control law uses information exchange commensurate with redundancy for fault tolerance, is scalable, and respects medium access control (MAC) constraints, that prohibit two agents from simultaneously broadcasting to the same agent. Unlike this paper, our prior work under MAC constraints did not permit the specification of the formation velocity.

Automated guided vehicles

Automatic control

Broadcasting

Communication system control

Control systems

Cooperative control

Decentralized control

Distributed control

Fault tolerance

Media Access Protocol

Redundancy

Stability

Topology

Velocity control

Details

Title: Subtitle: Achieving formations under medium access, relative position and velocity constraints
Creators: M Vemulapalli - University of Iowa
S Dasgupta - University of Iowa
J.G Kuhl - University of Iowa
Resource Type: Conference proceeding
Publication Details: 2008 International Conference on Control, Automation and Systems, pp.127-130
DOI: 10.1109/ICCAS.2008.4694537
Publisher: IEEE
Language: English
Date published: 10/2008
Academic Unit: Electrical and Computer Engineering; Public Policy Center (Archive)
Record Identifier: 9984197324602771

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