A collisionless singular Cucker-Smale model with decentralized formation control
Optimization and Control
2019-09-09 v4 Multiagent Systems
Dynamical Systems
Adaptation and Self-Organizing Systems
Pattern Formation and Solitons
Abstract
We address the design of decentralized feedback control laws inducing consensus and prescribed spatial patterns over a singular interacting particle system of Cucker-Smale type. The control design consists of a feedback term regulating the distance between each agent and pre-assigned subset of neighbours. Such a design represents a multidimensional extension of existing control laws for 1d platoon formation control. For the proposed controller we study consensus emergence, collision-avoidance and formation control features in terms of energy estimates for the closed-loop system. Numerical experiments in 1, 2 and 3 dimensions assess the different features of the proposed design.
Keywords
Cite
@article{arxiv.1807.05177,
title = {A collisionless singular Cucker-Smale model with decentralized formation control},
author = {Young-Pil Choi and Dante Kalise and Jan Peszek and Andrés A. Peters},
journal= {arXiv preprint arXiv:1807.05177},
year = {2019}
}
Comments
26 pages, 5 figures, SIAM Journal of Applied Dynamical Systems