Formation Control in Distributed System
Advisor Information
Azad Azadmanesh
Location
UNO Criss Library, Room 232
Presentation Type
Oral Presentation
Start Date
2-3-2018 9:45 AM
End Date
2-3-2018 10:00 AM
Abstract
Recent advances in multi-agent systems (MAS) have enabled the deployment of large inexpensive agents in a broad spectrum of applications. Formation control has been one prominent area of research in MASs, in which the agents are controlled to form geometric patterns. This project investigates the existing approaches to formation control and utilizes their properties to address the problem of circle formation. By exploiting the circle formation as a base to organize the agents, other symmetrical shapes can be formed as well. This project offers a new distributed algorithm to the circle formation that is robust against agent collisions, race conditions and is deadlock free. For better insight and understanding the pitfalls of the circle formation problem, the approach is step-wise that transitions through multiple phases. The final algorithm is simulated and presented through animation.
Formation Control in Distributed System
UNO Criss Library, Room 232
Recent advances in multi-agent systems (MAS) have enabled the deployment of large inexpensive agents in a broad spectrum of applications. Formation control has been one prominent area of research in MASs, in which the agents are controlled to form geometric patterns. This project investigates the existing approaches to formation control and utilizes their properties to address the problem of circle formation. By exploiting the circle formation as a base to organize the agents, other symmetrical shapes can be formed as well. This project offers a new distributed algorithm to the circle formation that is robust against agent collisions, race conditions and is deadlock free. For better insight and understanding the pitfalls of the circle formation problem, the approach is step-wise that transitions through multiple phases. The final algorithm is simulated and presented through animation.