Overview
- Presents a novel approach to studying multi-agent systems based on principles of continuum mechanics
- Covers the necessary theory and framework for the algorithms developed by the author
- Ideal for advanced graduate students and researchers in control engineering and related fields
- Includes supplementary material: sn.pub/extras
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Table of contents (7 chapters)
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Front Matter
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Back Matter
Keywords
About this book
This monograph presents new algorithms for formation control of multi-agent systems (MAS) based on principles of continuum mechanics. Beginning with an overview of traditional methods, the author then introduces an innovative new approach whereby agents of an MAS are considered as particles in a continuum evolving in ℝn whose desired configuration is required to satisfy an admissible deformation function. The necessary theory and its validation on a mobile-agent-based swarm test bed are considered for two primary tasks: homogeneous transformation of the MAS and deployment of a random distribution of agents on a desired configuration. The framework for this model is based on homogeneous transformations for the evolution of an MAS under no inter-agent communication, local inter-agent communication, and intelligent perception by agents. Different communication protocols for MAS evolution, the robustness of tracking ofa desired motion by an MAS evolving in ℝn, and the effect of communication delays in an MAS evolving under consensus algorithms or homogeneous maps are also explored.
Featuring appendices which introduce the requisite concepts from continuum kinematics and graph theory, this monograph will provide advanced graduate students and researchers with the necessary background to understand and apply the methods presented.
Featuring appendices which introduce the requisite concepts from continuum kinematics and graph theory, this monograph will provide advanced graduate students and researchers with the necessary background to understand and apply the methods presented.
Reviews
“The book addresses the formation control problem where the followers have their desired positions to track and the desired positions are specified by using the HT approach. Many color illustrations and detailed simulation parameters are provided, which helps readers better understand the results in the book.” (He Bai, Mathematical Reviews, February, 2018)
Authors and Affiliations
About the author
Bibliographic Information
Book Title: Continuum Deformation of Multi-Agent Systems
Authors: Hossein Rastgoftar
DOI: https://doi.org/10.1007/978-3-319-41594-9
Publisher: Birkhäuser Cham
eBook Packages: Mathematics and Statistics, Mathematics and Statistics (R0)
Copyright Information: Springer International Publishing AG 2016
Hardcover ISBN: 978-3-319-41593-2Published: 21 December 2016
Softcover ISBN: 978-3-319-82391-1Published: 04 July 2018
eBook ISBN: 978-3-319-41594-9Published: 14 December 2016
Edition Number: 1
Number of Pages: XIII, 217
Number of Illustrations: 37 b/w illustrations, 99 illustrations in colour