NDLI: Connected flocking of multi-agent system based on distributed eigenvalue estimation

Content Provider	IEEE Xplore Digital Library
Author	Li Xiaoli Zhang Shanwei Xi Yugeng
Copyright Year	2011
Description	Author affiliation: Department of Automation, Shanghai Jiao Tong University, China (Zhang Shanwei; Xi Yugeng) \|\| School of Information Science and Technology, Donghua University, Shanghai 201620, China (Li Xiaoli)
Abstract	As a global property, connectivity of group plays a critical role in cooperative flocking and its stability foundation of multi-agent system. In this paper, the algebraic value of group connectivity, i.e. the second smallest eigenvalue of group Laplacian, as well as the corresponding eigenvector is estimated in a completely distributed style. Based on the estimated parameters, a distributed cooperative algorithm is developed both to steer the agents to the desired flocking motion and to induce the second smallest eigenvalue of Laplacian to be positive, which implies the connectivity of controlled group is preserved during maneuvers. Different from the common potential/tension function method which keeps some certain edges all the time, the algorithm proposed in this paper guarantees the connectivity while permitting any existing edge to be broken, which thus forces more relaxed constraints to the motions of agents for the connectivity preservation compared with the former.
Starting Page	6061
Ending Page	6066
File Size	248225
Page Count	6
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Multi-agent System Multiagent systems Laplace equations Distributed Eigenvalue Estimation Flocking Estimation Maintenance engineering Control systems Connectivity Eigenvalues and eigenfunctions Topology
Content Type	Text
Resource Type	Article

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