Journal
AUTOMATICA
Volume 47, Issue 11, Pages 2534-2542Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2011.08.045
Keywords
Motion planning; Multi-agent deployment; Flatness; Distributed-parameter systems; Formation control
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The systematic flatness-based motion planning using formal power series and suitable summability methods is considered for the finite-time deployment of multi-agent systems into planar formation profiles along predefined spatial-temporal paths. Thereby, a distributed-parameter setting is proposed, where the collective leader-follower agent dynamics is modeled by two boundary controlled nonlinear time-varying PDEs governing the motion of an agent continuum in the plane. The discretization of the PDE model directly induces a decentralized communication and interconnection structure for the multi-agent system, which is required to achieve the desired spatial-temporal paths and deployment formations. (C) 2011 Elsevier Ltd. All rights reserved.
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