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Kwon, Cheolhyeon
High Assurance Mobility Control Lab.
Research Interests
  • Security and Safety of Cyber-Physical Systems, Intelligent and High Assurance Autonomy, Networked Multi-Agent Systems, Unmanned Aircraft Systems (UAS), UAS Traffic Management (UTM), Autonomous Driving, Advanced Driver Assistance System (ADAS), Sensor / Communication Networks

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Decentralized Multi-Subgroup Formation Control With Connectivity Preservation and Collision Avoidance

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Title
Decentralized Multi-Subgroup Formation Control With Connectivity Preservation and Collision Avoidance
Author
Choi, JoonwonSong, YeonghoLim, SeunghanKwon, CheolhyeonOh, Hyondong
Issue Date
2020-04
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE ACCESS, v.8, pp.71525 - 71534
Abstract
This paper proposes a formation control algorithm to create separated multiple formations for an undirected networked multi-agent system while preserving the network connectivity and avoiding collision among agents. Through the modified multi-consensus technique, the proposed algorithm can simultaneously divide a group of multiple agents into any arbitrary number of desired formations in a decentralized manner. Furthermore, the agents assigned to each formation group can be easily reallocated to other formation groups without network topological constraints as long as the entire network is initially connected; an operator can freely partition agents even if there is no spanning tree within each subgroup. Besides, the system can avoid collision without loosing the connectivity even during the transient period of formation by applying the existing potential function based on the network connectivity estimation. If the estimation is correct, the potential function not only guarantees the connectivity maintenance but also allows some extra edges to be broken if the network remains connected. Numerical simulations are performed to verify the feasibility and performance of the proposed multi-subgroup formation control.
URI
https://scholarworks.unist.ac.kr/handle/201301/32210
URL
https://ieeexplore.ieee.org/document/9064526
DOI
10.1109/ACCESS.2020.2987348
ISSN
2169-3536
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