17th International Symposium on
Mathematical Theory of Networks and Systems
Kyoto International Conference Hall, Kyoto, Japan, July 24-28, 2006

MTNS 2006 Paper Abstract


Paper TuA13.3

Abel, Ryan (Univ. of Iowa), Dasgupta, Soura (Univ. of Iowa), Kuhl, Jon (Univ. of Iowa)

Fault Tolerant, Reconfigurable, Scalable and Distributed Multiagent Formation Control

Scheduled for presentation during the Mini-Symposium "Control of Mobile Multiagent Systems" (TuA13), Tuesday, July 25, 2006, 11:15−11:40, Room 101

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on May 27, 2023

Keywords Coordinated control, Group formation, Networked control


A one step ahead optimization based control of autonomous agents is proposed. Each agent is modeled as a double integrator. The goal is to force the agents to converge to a formation specified by their desired relative positions, and moving with arbitrary velocity. We only define a geometric topology for the agent formation, and by correctly choosing the cost function, show that our algorithm produces a communication topology mirroring the geometric topology. By providing some redundancy in the formation topology it is possible for the system to survive the loss of an agent. Other attractions of the scheme are scalability, the requirement of only local knowledge of the desired formation topology and ease of reconfiguration in the face of loss of agents and/or channels.