Enhancing Convergence Speed of Multi-Agent Formation Control via Laplacian Functions

doi:10.1109/ROBIO58561.2023.10354740

	Enhancing Convergence Speed of Multi-Agent Formation Control via Laplacian Functions
	Zhang, Qilong; He, Binglin; Zhao, Yangyang; Liu, Song; Wang, Yang
	2023-11-09
会议录名称	2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
发表状态	已发表
DOI	10.1109/ROBIO58561.2023.10354740
摘要	Formation control is an essential research topic in multi-agent systems (MAS), while the convergence speed of formation is critically important for applications with real-time performance requirements, such as rescuing tasks. However, there is still a lack of effective methods for practically usable formation control with controllable convergence speed. This paper introduces a novel Laplacian function-based approach to enhance the convergence speed of MAS in formation control. By utilizing the Laplacian matrix of the communication graph, eigenvalues are mapped to desired positions, thereby improving the convergence speed of the formation process. Additionally, this approach enables estimation and manipulation of the convergence speed, offering flexibility and adaptability to meet application-specific requirements. The proposed scheme is experimentally validated through multiple quadrotors, demonstrating its effectiveness and practical feasibility. Experimental results show that the formation convergence speed can be well controlled by appropriately designing the Laplacian functions. © 2023 IEEE.
关键词	Laplace equations Estimation Formation control Eigenvalues and eigenfunctions Real-time systems Task analysis Robots
会议名称	2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023
会议地点	Koh Samui, Thailand
会议日期	4-9 Dec. 2023
URL	查看原文
收录类别	EI
语种	英语
出版者	Institute of Electrical and Electronics Engineers Inc.
EI入藏号	20240315404497
原始文献类型	Conference article (CA)
来源库	IEEE
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/349500
专题	信息科学与技术学院信息科学与技术学院_硕士生信息科学与技术学院_PI研究组_汪阳组信息科学与技术学院_PI研究组_刘松组
通讯作者	Wang, Yang
作者单位	ShanghaiTech University, School of Information Science and Technology, Shanghai; 201210, China
第一作者单位	信息科学与技术学院
通讯作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Zhang, Qilong,He, Binglin,Zhao, Yangyang,et al. Enhancing Convergence Speed of Multi-Agent Formation Control via Laplacian Functions[C]:Institute of Electrical and Electronics Engineers Inc.,2023.