Flocking with Obstacle Avoidance
CALIFORNIA INST OF TECH PASADENA CONTROL AND DYNAMICAL SYSTEMS
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In this paper, we provide a dynamic graph theoretical framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs. We provide models of nets and flocks and discuss the realizationembedding issues related to structural nets and flocks. This allows task representation and execution for a network of agents called -agents. We also consider flocking in the presence of multiple obstacles. This task is achieved by introducing two other types of agents called -agents and -agents. This framework enables us to address splitrejoin and squeezing maneuvers for netsflocks of dynamic agents that communicate with each other. The problems arising from switching topology of these networks of mobile agents make the analysis and design of the decision-making protocols for such networks rather challenging. We provide simulation results that demonstrate the e ectiveness of our theoretical and computational tools.
- Numerical Mathematics