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Flocking motion of multi-agent systems: A proximity digraph case

dc.contributor.authorBarajas Ramírez, Juan Gonzalo
dc.contributor.authorÁvila Martínez, Eber Jafet
dc.date.accessioned2024-05-30T21:28:27Z
dc.date.available2024-05-30T21:28:27Z
dc.date.issued2023
dc.identifier.citationJuan G. Barajas-Ramírez, Ávila-Martínez Eber J., Flocking motion of multi-agent systems: A proximity digraph case, IFAC-PapersOnLine, Volume 56, Issue 2, 2023, Pages 10234-10239, https://doi.org/10.1016/j.ifacol.2023.10.904.
dc.identifier.urihttp://hdl.handle.net/11627/6556
dc.description.abstractWe investigate the coordinated motion of a multi-agent system with heterogeneous distance-dependent communication constraints. In this setup, the underlying interaction network is dynamic since edges appear or disappear as the agents navigate their workspace. Inspired by the gradient-descent method, we provide a distributed controller which preserves the position-dependent communication network connectivity properties. We use a distributed connectivity measure based on the entries of the first-left eigenvector of the network's associated Laplacian matrix to provide the agents with local knowledge of the overall network topology and reveal its dynamics properties. We illustrate our result with a numerical simulation.
dc.publisherInternational Federation of Automatic Control.
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectMulti-agent systems
dc.subjectDistributed control and estimation
dc.subjectFlocking motion
dc.subjectState-dependent digraphs
dc.subject.classificationSISTEMAS DE CONTROL
dc.titleFlocking motion of multi-agent systems: A proximity digraph case
dc.typearticle
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2023.10.904
dc.rights.accessAcceso Abierto


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Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional