Abstract
This paper addresses the problem of having a multi-agent system converging to multiple dynamic rendezvous areas for networks of agents with no localization sensors and limited communication capabilities. The localization is performed by measurement/communication towers that determine the noisy position and velocity of each relevant agent and transmit them using a directional antenna. There is no assumption on the connectedness of the network topology, which is unknown to all agents. The proposed solution consists of an improved flocking-based movement algorithm tailored to the proposed scenario, with mechanisms to prevent collisions. The performance of the solution is presented through multiple simulations for a multitude of environments. By an appropriate selection of an utility function, these empirical results hint to the possibility of realizing different types of missions intended for multi-agent systems using swarm behavior.
D. Silvestre—is also with the Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal.
C. Silvestre—is on leave from Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal.
This work was partially supported by the project MYRG2018-00198-FST of the University of Macau; by the Portuguese Fundação para a Ciência e a Tecnologia (FCT) through Institute for Systems and Robotics (ISR), under Laboratory for Robotics and Engineering Systems (LARSyS) project UIDB/50009/2020.
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Ribeiro, R., Silvestre, D., Silvestre, C. (2021). Decentralized Control for Multi-agent Missions Based on Flocking Rules. In: Gonçalves, J.A., Braz-César, M., Coelho, J.P. (eds) CONTROLO 2020. CONTROLO 2020. Lecture Notes in Electrical Engineering, vol 695. Springer, Cham. https://doi.org/10.1007/978-3-030-58653-9_43
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DOI: https://doi.org/10.1007/978-3-030-58653-9_43
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