Table of Contents Author Guidelines Submit a Manuscript
Journal of Applied Mathematics
Volume 2013 (2013), Article ID 123072, 11 pages
http://dx.doi.org/10.1155/2013/123072
Research Article

Formation Control and Obstacle Avoidance for Hybrid Multi-Agent Systems

Dong Xue,1,2 Jing Yao,1,3 and Jun Wang1

1Department of Control Science and Engineering, Tongji University, Shanghai 201804, China
2Institute for Information-Oriented Control, Technische Universität München, D-80290 München, Germany
3Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China

Received 10 July 2013; Accepted 20 September 2013

Academic Editor: Michael Chen

Copyright © 2013 Dong Xue et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. D. Xue, J. Yao, G. Chen, and Y.-L. Yu, “Formation control of networked multi-agent systems,” IET Control Theory & Applications, vol. 4, no. 10, pp. 2168–2176, 2010. View at Publisher · View at Google Scholar · View at MathSciNet
  2. J. P. Desai, J. P. Ostrowski, and V. Kumar, “Modeling and control of formations of nonholonomic mobile robots,” IEEE Transactions on Robotics and Automation, vol. 17, no. 6, pp. 905–908, 2001. View at Publisher · View at Google Scholar · View at Scopus
  3. S. Cristaldi, A. Ferro, R. Giugno, G. Pigola, and A. Pulvirenti, “Obstacles constrained group mobility models in event-driven wireless networks with movable base stations,” Ad Hoc Networks, vol. 9, no. 3, pp. 400–417, 2011. View at Publisher · View at Google Scholar · View at Scopus
  4. X. Wang, V. Yadav, and S. N. Balakrishnan, “Cooperative UAV formation flying with obstacle/collision avoidance,” IEEE Transactions on Control Systems Technology, vol. 15, no. 4, pp. 672–679, 2007. View at Publisher · View at Google Scholar · View at Scopus
  5. Q. Hui, “Finite-time rendezvous algorithms for mobile autonomous agents,” IEEE Transactions on Automatic Control, vol. 56, no. 1, pp. 207–211, 2011. View at Publisher · View at Google Scholar · View at MathSciNet
  6. R. Olfati-Saber, “Flocking for multi-agent dynamic systems: algorithms and theory,” IEEE Transactions on Automatic Control, vol. 51, no. 3, pp. 401–420, 2006. View at Publisher · View at Google Scholar · View at MathSciNet
  7. V. Gazi and K. M. Passino, “Stability analysis of Social foraging swarms,” IEEE Transactions on Systems, Man, and Cybernetics B, vol. 34, no. 1, pp. 539–557, 2004. View at Publisher · View at Google Scholar · View at Scopus
  8. F. Zhang, “Geometric cooperative control of particle formations,” IEEE Transactions on Automatic Control, vol. 55, no. 3, pp. 800–803, 2010. View at Publisher · View at Google Scholar · View at MathSciNet
  9. M. Defoort, T. Floquet, A. Kökösy, and W. Perruquetti, “Sliding-mode formation control for cooperative autonomous mobile robots,” IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 3944–3953, 2008. View at Publisher · View at Google Scholar · View at Scopus
  10. T.-H. Kim and T. Sugie, “Cooperative control for target-capturing task based on a cyclic pursuit strategy,” Automatica, vol. 43, no. 8, pp. 1426–1431, 2007. View at Publisher · View at Google Scholar · View at MathSciNet
  11. S. S. Ge and C.-H. Fua, “Queues and artificial potential trenches for multirobot formations,” IEEE Transactions on Robotics, vol. 21, no. 4, pp. 646–656, 2005. View at Publisher · View at Google Scholar · View at Scopus
  12. R. Olfati-Saber and R. M. Murray, “Graph rigidity and distributed formation stabilization of multi-vehicle systems,” in Proceedings of the 41st IEEE Conference on Decision and Control, vol. 3, pp. 2965–2971, Pasadena, Calif, USA, December 2002. View at Publisher · View at Google Scholar · View at Scopus
  13. M. Karasalo and X. Hu, “Robust formation control and servoing using switching range sensors,” Robotics and Autonomous Systems, vol. 58, no. 8, pp. 1003–1016, 2010. View at Publisher · View at Google Scholar · View at Scopus
  14. B. Shen, Z. Wang, and X. Liu, “Bounded H synchronization and state estimation for discrete time-varying stochastic complex networks over a finite horizon,” IEEE Transactions on Neural Networks, vol. 22, no. 1, pp. 145–157, 2011. View at Publisher · View at Google Scholar · View at Scopus
  15. J. A. Guerrero, G. Romero, and R. Lozano, “Robust consensus tracking of leader-based multi-agent systems,” in Proceedings of the American Control Conference (ACC '10), pp. 6299–6305, Baltimore, Md, USA, July 2010. View at Scopus
  16. V. Gazi, “Swarm aggregations using artificial potentials and sliding-mode control,” IEEE Transactions on Robotics, vol. 21, no. 6, pp. 1208–1214, 2005. View at Publisher · View at Google Scholar · View at Scopus
  17. O. Khatib, “Real time obstacle avoidance for manipulators and mobile robots,” International Journal of Robotics Research, vol. 5, no. 1, pp. 90–98, 1986. View at Google Scholar · View at Scopus
  18. D. J. Bennet and C. R. McInnes, “Distributed control of multi-robot systems using bifurcating potential fields,” Robotics and Autonomous Systems, vol. 58, no. 3, pp. 256–264, 2010. View at Publisher · View at Google Scholar · View at Scopus
  19. J.-H. Chuang and N. Ahuja, “An analytically tractable potential field model of free space and its application in obstacle avoidance,” IEEE Transactions on Systems, Man, and Cybernetics B, vol. 28, no. 5, pp. 729–736, 1998. View at Publisher · View at Google Scholar · View at Scopus
  20. J. Ren, K. A. McIsaac, R. V. Patel, and T. M. Peters, “A potential field model using generalized sigmoid functions,” IEEE Transactions on Systems, Man, and Cybernetics B, vol. 37, no. 2, pp. 477–484, 2007. View at Publisher · View at Google Scholar · View at Scopus
  21. A. Eresen, N. Imamoğlu, and M. Ö. Efe, “Autonomous quadrotor flight with vision-based obstacle avoidance in virtual environment,” Expert Systems with Applications, vol. 39, no. 1, pp. 894–905, 2012. View at Publisher · View at Google Scholar · View at Scopus
  22. D. R. Parhi and J. C. Mohanta, “Navigational control of several mobile robotic agents using Petri-potential-fuzzy hybrid controller,” Applied Soft Computing Journal, vol. 11, no. 4, pp. 3546–3557, 2011. View at Publisher · View at Google Scholar · View at Scopus
  23. M. Heymann, F. Lin, and G. Meyer, “Control synthesis for a class of hybrid systems subject to configuration based on safety constraints,” NASA Technical Memorandum 112196, 1997. View at Google Scholar
  24. M. Heymann, F. Lin, and G. Meyer, “Synthesis and viability of minimally interventive legal controllers for hybrid systems,” Discrete Event Dynamic Systems, vol. 8, no. 2, pp. 105–135, 1998. View at Publisher · View at Google Scholar · View at MathSciNet
  25. J. Yao, F. Lin, and B. Liu, “H control for stochastic stability and disturbance attenuation in a class of networked hybrid systems,” IET Control Theory & Applications, vol. 5, no. 15, article 1698, 2011. View at Publisher · View at Google Scholar · View at MathSciNet
  26. C. G. Cassandras and S. Lafortune, Introduction to Discrete Event Systems, Springer, New York, NY, USA, 2nd edition, 2008. View at Publisher · View at Google Scholar · View at MathSciNet
  27. R. Shorten, F. Wirth, O. Mason, K. Wulff, and C. King, “Stability criteria for switched and hybrid systems,” SIAM Review, vol. 49, no. 4, pp. 545–592, 2007. View at Publisher · View at Google Scholar · View at MathSciNet
  28. R. Olfati-Saber and R. M. Murray, “Consensus problems in networks of agents with switching topology and time-delays,” IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1520–1533, 2004. View at Publisher · View at Google Scholar · View at MathSciNet