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Title: Multi-agent coordination via distributed pattern matching
Authors: Sakurama, Kazunori
Azuma, Shun-Ichi
Sugie, Toshiharu
Author's alias: 櫻間, 一徳
杉江, 俊治
Issue Date: Aug-2019
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Journal title: IEEE Transactions on Automatic Control
Volume: 64
Issue: 8
Start page: 3210
End page: 3225
Abstract: This paper addresses a distributed formation control problem of multiple mobile agents using relative positions and local bearings. First, a formation control method via distributed pattern matching is proposed, which is executed over each clique (i.e., complete induced subgraph) of a network. It is shown that this method achieves the best control performance for a given desired formation and network topology in the following sense: The closest formation to the desired one is achieved among all formations achievable by distributed and relative control over the network. Next, a necessary and sufficient network condition is derived under which the desired formation can be obtained. It turns out that a new concept of connectivity, called clique rigidity, plays a crucial role. Finally, the effectiveness of the proposed method is illustrated through simulations in both two and three dimensional spaces.
Rights: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。
URI: http://hdl.handle.net/2433/243884
DOI(Published Version): 10.1109/TAC.2018.2885491
Appears in Collections:Journal Articles

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