Accession Number : ADA622197


Title :   Control Strategies for Guided Collective Motion


Descriptive Note : Final rept. 1 May 2011-27 Feb 2015


Corporate Author : INDIAN INST OF SCIENCE BANGALORE (INDIA)


Personal Author(s) : Ghose, Debasish


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a622197.pdf


Report Date : 27 Feb 2015


Pagination or Media Count : 30


Abstract : Guided collective motion of cooperating vehicles was addressed in this project through the use of heterogeneous guidance gains. Two different approaches were examined for this purpose. In the first we assumed all-to-all communication between agents and proposed strategies that allowed the agent swarm to converge to specified points in the environment. Several strategies were tried out for this purpose using balanced and splay formation objectives. The second approach was to exploit the cyclic pursuit strategy where the connections are with one leader and one follower and a similar heterogeneous gains and hierarchical structure was exploited to achieve convergence at arbitrary points in space.


Descriptors :   *COLLISION AVOIDANCE , *MULTIAGENT SYSTEMS , CONTROL THEORY , COOPERATION , HETEROGENEITY , INDIA


Subject Categories : Operations Research
      Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE