Formation control with size scaling using relative displacement feedback

Abstract:

We consider a multiagent coordination problem where the objective is to steer a team of mobile agents into a formation of variable size. The shape description of the formation is known to all agents, but the desired size scaling of the formation is known only to a subset of agents. We present two strategies that allow the agents to maneuver to the desired scaled formation using only local relative position information. These strategies can be implemented using information gathered via local sensors and no interagent communication. The two methods are compared through several examples with simulations.

Presentation Slides

Biography:

Sam Coogan received his B.S. in Electrical Engineering from the Georgia Institute of Technology in 2010 and his M.S. in Electrical Engineering from UC Berkeley in 2012. He is currently a Ph.D. student in the Electrical Engineering and Computer Sciences Department at UC Berkeley under the supervision of Dr. Murat Arcak. His research interests include cooperative and distributed control, particularly of mobile agents, swarm control, and noncooperative dynamic games. He is the recipient of a National Science Foundation Graduate Research Fellowship.