Generation of minimally persistent circle formation for a multi-agent system

doi:10.1088/1674-1056/23/2/028901

Abstract In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader’s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n-3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods.

Keywords: multiagent system formation control minimally persistent graph numbering strategy

Received: 13 January 2013
Revised: 10 July 2013
Accepted manuscript online:

PACS:	89.20.Ff	(Computer science and technology)
	87.85.St	(Robotics)
	89.65.Ef	(Social organizations; anthropology ?)
	02.30.Em	(Potential theory)

Fund: Project supported by the National Basic Research Program of China (Grant No. 2010CB731800), the National Natural Science Foundation of China (Grant Nos. 60934003, 61074065, and 61375105), and the Natural Science Foundation of Hebei Province, China (Grant No. F2012203119).

Corresponding Authors: Liu Zhi-Xin
E-mail: lzxauto@ysu.edu.cn

About author: 89.20.Ff; 87.85.St; 89.65.Ef; 02.30.Em

Cite this article:

Luo Xiao-Yuan (罗小元), Shao Shi-Kai (邵士凯), Zhang Yu-Yan (张玉燕), Li Shao-Bao (李绍宝), Guan Xin-Ping (关新平), Liu Zhi-Xin (刘志新) Generation of minimally persistent circle formation for a multi-agent system 2014 Chin. Phys. B 23 028901

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