Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems
Systems and Control
2024-10-14 v1 Systems and Control
Abstract
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while effectively managing collision and obstacle avoidance using potential functions. By integrating neural network-based disturbance estimation and adaptive tuning laws, the proposed strategy ensures consensus and stability in leader-following formations under fixed topologies.
Cite
@article{arxiv.2410.08440,
title = {Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems},
author = {Armel Koulong and Ali Pakniyat},
journal= {arXiv preprint arXiv:2410.08440},
year = {2024}
}