{"title":"基于运动规划的多智能体系统编队控制","authors":"Li Yongfang, Zhao Yu","doi":"10.1109/CCDC.2018.8407121","DOIUrl":null,"url":null,"abstract":"This paper studies the formation-containment problem for multi-agent systems. By using motion-planning approaches, a new class of distributed formation-containment protocols are designed for multi-agent systems such that the states of followers asymptotically converge to the convex hull formed by the states of leaders. Then, by selecting a special sampling time sequence, the finite-time formation-containment problem are solved for multi-agent systems. Finally, a numerical simulation is shown to verify the theory results in this paper.","PeriodicalId":409960,"journal":{"name":"2018 Chinese Control And Decision Conference (CCDC)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Motion-planning-based formation-containment control for multi-agent systems\",\"authors\":\"Li Yongfang, Zhao Yu\",\"doi\":\"10.1109/CCDC.2018.8407121\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper studies the formation-containment problem for multi-agent systems. By using motion-planning approaches, a new class of distributed formation-containment protocols are designed for multi-agent systems such that the states of followers asymptotically converge to the convex hull formed by the states of leaders. Then, by selecting a special sampling time sequence, the finite-time formation-containment problem are solved for multi-agent systems. Finally, a numerical simulation is shown to verify the theory results in this paper.\",\"PeriodicalId\":409960,\"journal\":{\"name\":\"2018 Chinese Control And Decision Conference (CCDC)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 Chinese Control And Decision Conference (CCDC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCDC.2018.8407121\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 Chinese Control And Decision Conference (CCDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2018.8407121","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Motion-planning-based formation-containment control for multi-agent systems
This paper studies the formation-containment problem for multi-agent systems. By using motion-planning approaches, a new class of distributed formation-containment protocols are designed for multi-agent systems such that the states of followers asymptotically converge to the convex hull formed by the states of leaders. Then, by selecting a special sampling time sequence, the finite-time formation-containment problem are solved for multi-agent systems. Finally, a numerical simulation is shown to verify the theory results in this paper.
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