Rendezvous of multiple Dubins car agents with minimal sensing and control requirements

rendezvous;multi-agent systems;formation control;Lyapunov analysis

Yu, Jingjin ; LaValle ; Steven M.

关键词: rendezvous;    multi-agent systems;    formation control;    Lyapunov analysis;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/16796/Yu_Jingjin.pdf?sequence=2&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each agent tracks another agent assigned to it by maintaining that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomouslyin this way, the agents will achieve rendezvous given aconnected initial assignment graph and a merge assumption. We then proceed to show that, with a slightly different control law, an initial assignment is not requiredand the sensing model can be weakened further. A distinguishing feature of our approach is that it does not involve any estimation procedure aimed at reconstructing coordinate information. Our scenario thus appears to be thefirst example in which aninteresting task is performed with extremely coarse sensing and control, and without stateestimation. The system wasimplemented in computer simulation, accessible through the Web, of which the results are presented in the thesis.