Consensus and Obstacle Avoidance of Partially-informed Multi-agent System

DOI

10.2991/cmes-15.2015.71How to use a DOI?

Keywords

collective movement, partial informed, obstacle avoidance, consensus, multi-agent system.

Abstract

In this paper, we study the collective obstacle avoidance problem when only part of agents is informed of obstacle information. The control protocol is proposed to lead second order agents trend to state consensus in the existence of smooth convex obstacles. Both the position and velocity of agents will trend to the same. The moving obstacles which have varying acceleration can also be avoid, even without acceleration sensor. We prove the convergence and collision avoidance of multi-agent system. A simulation demonstrates the effect of the proposed control protocol.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jiaojie Li
AU  - Wei Zhang
AU  - Yupu Yang
PY  - 2015/04
DA  - 2015/04
TI  - Consensus and Obstacle Avoidance of Partially-informed Multi-agent System
BT  - Proceedings of the 2nd International Conference on Civil, Materials and Environmental Sciences
PB  - Atlantis Press
SP  - 256
EP  - 259
SN  - 2352-5401
UR  - https://doi.org/10.2991/cmes-15.2015.71
DO  - 10.2991/cmes-15.2015.71
ID  - Li2015/04
ER  -