Control Strategies for Guided Collective Motion
Final rept. 24 Sep 2012-23 Oct 2014
INDIAN INST OF SCIENCE BANGALORE DEPT OF AEROSPACE ENGINEERING
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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.
- Operations Research