Continuous Control of Lagrangian Data

  • Pierre Allain
  • Nicolas Courty
  • Thomas Corpetti
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 125)


This paper addresses the challenging problem of globally controlling several (and possibly independent) moving agents that together form a whole, generally called swarm, which may display interesting properties. Applications are numerous and can be related either to robotics or computer animation. Assuming the agents are driven by their own dynamics (such act as Newtonian particles), controlling this swarm is known as the particle swarm control problem. In this paper, the theory of an original approach to solve this issue, where we rely on a centralized control rather than focusing on designing individual and simple rules for the agents, is presented. To that end, we propose a framework to control several particles with constraints either expressed on a per-particle basis, or expressed as a function of their environment. We refer to these two categories as respectively Lagrangian or Eulerian constraints.


Adjacency Matrix Continuous Control Computer Animation Variational Data Assimilation Switching Topology 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Pierre Allain
    • 1
  • Nicolas Courty
    • 1
  • Thomas Corpetti
    • 2
  1. 1.VALORIA, University of Bretagne SudVannesFrance
  2. 2.CNRS, LIAMA (TIPE project)BeijingP.R. China

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