Flocking and Formation as Mission Control Strategies for Multi-Agent Systems: Comparative Evaluation and Development of a Cooperative Approach
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Beschreibung
In this work novel mission control strategies are proposed for multiagent systems, that can be applied to scenarios such as source seeking and level curve tracking. A gradient-based method for source seeking and subsequent level curve tracking is presented, where the agents reach discrete consensus on whether they should switch from Task 1 to Task 2. Moreover, a gradient-free flocking-based approach to the source seeking problem is developed that is based on glowworm swarm optimization. The multiple-source-seeking problem for time-varying communication topologies is solved using a combination of bio-inspired attraction with estimated gradient and formation control, where task-switching is performed under a linear temporal logic rule. Finally an approach that combines flocking and formation control techniques is presented, where low-level agents attain a specified formation, while the formation leaders at the upper level flock to locate an unknown extremum. Convergence analysis for all methods is provided, together with simulation results and experimental validation.
Autor*in
Avraham Turgeman
Themen in »Flocking and Formation as Mission Control Strategies for Multi-Agent Systems: Comparative Evaluation and Development of a Cooperative Approach«
Multi-agent systems Flocking Cooperative control