This paper presents a decentralized control algorithm for the Entrapment/Escorting Mission based on the Morse potential function. The entrapment/escorting mission tasks a multi-agent system with creating a formation around a mobile target. Applications of the mission include security awareness and military situations where an autonomous object of value must be guarded. The simulation consists of N robots that are initially located in random positions on a flat terrain. Agents are provided with the information on coordinates of their peers by a supervisor, which are used to generate artificial potential energies between robots and the target. The simulation confirms that robot positions achieve the lowest calculated Morse potential energy in the arena, and the resulting formation is centered on the target. Differential drive “e-puck” robots are used to experimentally validate the control’s application to nonholonomic vehicles, and proximity sensors are incorporated into the algorithm to accommodate for obstacles in the experimental arena.
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ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
October 17–19, 2012
Fort Lauderdale, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4531-8
PROCEEDINGS PAPER
Decentralized Control of Multi-Agent Escort Formation via Morse Potential Function
Kevin M. Lieberman,
Kevin M. Lieberman
Duke University, Durham, NC
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Gregory K. Fricke,
Gregory K. Fricke
Duke University, Durham, NC
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Devendra P. Garg
Devendra P. Garg
Duke University, Durham, NC
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Kevin M. Lieberman
Duke University, Durham, NC
Gregory K. Fricke
Duke University, Durham, NC
Devendra P. Garg
Duke University, Durham, NC
Paper No:
DSCC2012-MOVIC2012-8777, pp. 317-324; 8 pages
Published Online:
September 17, 2013
Citation
Lieberman, KM, Fricke, GK, & Garg, DP. "Decentralized Control of Multi-Agent Escort Formation via Morse Potential Function." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 317-324. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8777
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