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Mathematical Problems in Engineering
Volume 2015, Article ID 948086, 17 pages
Research Article

Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths

CINVESTAV, Electrical Engineering Department, Mechatronics Section, AP 14-740, 07000 México, DF, Mexico

Received 26 November 2014; Accepted 20 January 2015

Academic Editor: Luis Rodolfo Garcia Carrillo

Copyright © 2015 J. F. Flores-Resendiz 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.

Supplementary Material

The attached video contains an animation consisting in a group of nine agents under the proposed control law. The initial positions have been selected randomly and they reach the desired formation in less than 10 seconds. It is clear that no collision between agents occur and that the agents converge to their desired positions in finite-time. A real-time experiment is included in the video as well. There, a group of four unicycle-type robots achieves a prescribed formation avoiding collisions. The agents’ position and orientation are estimated through a vision positioning system, The value of physical and design parameters are detailed in the article.

  1. Supplementary Video