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Proceedings of the American Control Conference Arlington, VA June 25-27, 2001 Feasible Formations of Multi-Agent Systems Paulo Tabuada 2 George J. Pappas a Pedro Lima 2 2Instituto de Sistemas e Robdtica Instituto Superior T5cnico 1049-001 heavy(p) of Portugal - Portugal {tabuada, pal}@isr, ist. utl. pt 3Department of EE University of Pennsylvania Philadelphia, PA 19104 pappasgOee, upenn, edu thieve entity Formations of multi- broker systems, such as satellites and aircraft, necessitate that individual agents change their kinematic equations maculation constantly maintain- ing inter-agent constraints. In this paper, we develop a positive fashion model for studying formations of multi- agent systems. In particular, we apportion undirected formations for centralized formations and direct ed for- mations for decentralized formations. In individu tout ensembley case, we determine differential geometric conditions that guar- antee formation feasibility disposed(p) the individual agent kinematics. Our framework also enables us to ex- piece of ground a littler assure system that describes the for- mation kinematics while maintaining all formation con- straints. 1 Introduction Advances in communication and computing have en- abled the distributed control of multi-agent systems. This philosophy has resulted in next coevals auto- mated driveway systems [9], coordination of aircraft in future air avocation management systems [8], as well as formation profligate aircraft, satellites, and multiple mo- freshness robots [2, 3, 7, 4]. The control of multiple homogeneous or heterogeneous agents raises cardinal! questions regarding the for- mation control of a group of agents. Multi-agent forma- tions require individual agents to satisfy their kinemat- ics while constantly satisfying inter-agent...If you want to get a full essay, order it on our website: OrderCustomPaper.com

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