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Autonomous Formations of Multi-Agent SystemsAutonomous formation control of multi-agent dynamic systems has a number of applications that include ground-based and aerial robots and satellite formations. For air vehicles, formation flight ("flocking") has the potential to significantly increase airspace utilization as well as fuel efficiency. This presentation addresses two main problems in multi-agent formations: optimal role assignment to minimize the total cost (e.g., combined distance traveled by all agents); and maintaining formation geometry during flock motion. The Kuhn-Munkres ("Hungarian") algorithm is used for optimal assignment, and consensus-based leader-follower type control architecture is used to maintain formation shape despite the leader s independent movements. The methods are demonstrated by animated simulations.
Document ID
20130014318
Document Type
Video
External Source(s)
Authors
Dhali, Sanjana
(Virginia Space Grant Consortium Hampton, VA, United States)
Joshi, Suresh M.
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
August 27, 2013
Publication Date
July 1, 2013
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
NF1676L-17090
Funding Number(s)
WBS: WBS 794072.02.07.06.01
Distribution Limits
Public
Copyright
Public Use Permitted.
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