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- W2897535837 abstract "In this study1, formation control and collision avoidance problem of multi-agent system with switching communication topology has been researched. Due to changes in the communication topology, collision between agents may occur during the course of formation, especially when the distance between agents is very close. Therefore, we have proposed a stable and effective formation control law with collision avoidance capability for the multi-agent system. It is assumed that the topology graph is directed and switching. Besides, the agent is modeled as a single integrator. Our formation control law is the combination of a consensus-based formation control method and a collision avoidance algorithm. The collision avoidance algorithm is adopted based on the artificial potential field (APF) method. In addition, we have adapted the potential function to ensure connectivity. The convergence is guaranteed even in the simultaneous execution of the consensus-based controller and the collision avoidance algorithm. And also, all agents can converge to the desired position rapidly. Some simulations have shown the validation of our scheme." @default.
- W2897535837 created "2018-10-26" @default.
- W2897535837 creator A5020880287 @default.
- W2897535837 creator A5072541670 @default.
- W2897535837 date "2018-10-22" @default.
- W2897535837 modified "2023-09-27" @default.
- W2897535837 title "Formation Control and Collision Avoidance of Multi-agent System with Switching Communication Topology" @default.
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- W2897535837 doi "https://doi.org/10.1145/3207677.3278088" @default.
- W2897535837 hasPublicationYear "2018" @default.
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