PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS

Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu

Abstract

This paper addresses a predictive control strategy for multi-agent formations with a time-varying topology. The goal is to guarantee a trajectory tracking, where a reference trajectory is specified for an agent designed as the leader. Then, a predictive control strategy combined with the Potential Field method is used in order to derive a control action based only on local information within the group of agents. The main concern is that the interconnections between the agents are time-varying, affecting the neighborhood around each agent. The proposed method exhibits effective performance validated through some illustrative examples.

References

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Paper Citation


in Harvard Style

Prodan I., Olaru S., Stoica C. and Niculescu S. (2012). PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS . In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-8425-96-6, pages 209-214. DOI: 10.5220/0003749102090214


in Bibtex Style

@conference{icaart12,
author={Ionela Prodan and Sorin Olaru and Cristina Stoica and Silviu-Iulian Niculescu},
title={PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2012},
pages={209-214},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003749102090214},
isbn={978-989-8425-96-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS
SN - 978-989-8425-96-6
AU - Prodan I.
AU - Olaru S.
AU - Stoica C.
AU - Niculescu S.
PY - 2012
SP - 209
EP - 214
DO - 10.5220/0003749102090214