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Problem of uniform deployment on a line segment for second-order agents

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Abstract

Consideration was given to a special problem of controlling a formation of mobile agents, that of uniform deployment of several identical agents on a segment of the straight line. For the case of agents obeying the first-order dynamic model, this problem seems to be first formulated in 1997 by I.A. Wagner and A.M. Bruckstein as “row straightening.” In the present paper, the straightening algorithm was generalized to a more interesting case where the agent dynamics obeys second-order differential equations or, stated differently, it is the agent’s acceleration (or the force applied to it) that is the control.

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Author information

Authors and Affiliations

  1. St. Petersburg State University, St. Petersburg, Russia

    A. V. Proskurnikov

  2. Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia

    A. V. Proskurnikov

  3. St. Petersburg State University of Information Technologies, Mechanics, and Optics (ITMO), St. Petersburg, Russia

    A. V. Proskurnikov

  4. National Research University Higher School of Economics, Moscow, Russia

    S. E. Parsegov

Authors
  1. A. V. Proskurnikov
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  2. S. E. Parsegov
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Correspondence to A. V. Proskurnikov.

Additional information

Original Russian Text © A.V. Proskurnikov, S.E. Parsegov, 2016, published in Avtomatika i Telemekhanika, 2016, No. 7, pp. 152–165.

This paper was recommended for publication by P.S. Shcherbakov, a member of the Editorial Board

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Proskurnikov, A.V., Parsegov, S.E. Problem of uniform deployment on a line segment for second-order agents. Autom Remote Control 77, 1248–1258 (2016). https://doi.org/10.1134/S0005117916070110

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  • DOI: https://doi.org/10.1134/S0005117916070110

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