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Continuum Deformation of a Multi-Agent System over Nonlinear Surfaces

In: Continuum Deformation of Multi-Agent Systems

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  • Hossein Rastgoftar

    (University of Michigan Ann Arbor, Department of Aerospace Engineering)

Abstract

In this chapter, it is shown how a multi-agent system (MAS) consisting of N agents can move collectively on a nonlinear surface through local communication. Collective motion of the MAS is treated as continuum deformation, therefore, interagent distances can be largely expanded or contracted. For collective motion on a p-D (p ≤ 3) nonlinear surface, leader-follower approach is applied and continuum deformation is prescribed by p + 1 leaders that move independently. Each follower uses a first-order discrete-time dynamics and communicate with p + 1 in-neighbor agents to acquire desired position specified by the continuum deformation. Similar to collective motion on linear surfaces, followers’ communication weights are consistent with agents’ initial positions. Examples of collective motion on an arbitrary curve as well as a 2-D nonlinear surface in a 3-D motion space are also provided.

Suggested Citation

  • Hossein Rastgoftar, 2016. "Continuum Deformation of a Multi-Agent System over Nonlinear Surfaces," Springer Books, in: Continuum Deformation of Multi-Agent Systems, chapter 0, pages 185-194, Springer.
    • Handle: RePEc:spr:sprchp:978-3-319-41594-9_7
    DOI: 10.1007/978-3-319-41594-9_7
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