Formation tracking for a heterogeneous multi-agent system
In this work, the design of a control strategy to achieve formation tracking in a heterogeneous multi-agent system is presented. The modeling of this system is based on the principles of algebraic graph theory. In particular, the system comprises two different types of agents: Ackermann and differen...
| Authors: | , , , |
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| Format: | article |
| Status: | Published version |
| Publication Date: | 2024 |
| Country: | México |
| Institution: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repository: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Language: | Spanish |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/12073 |
| Online Access: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/12073 |
| Access Level: | Open access |
| Keyword: | Multi-agent system heterogeneus system formation tracking Ackerman robot differential robot Sistema multi-agente sistema heterogéneo seguimiento de formación robot Ackerman robot diferencial |
| Summary: | In this work, the design of a control strategy to achieve formation tracking in a heterogeneous multi-agent system is presented. The modeling of this system is based on the principles of algebraic graph theory. In particular, the system comprises two different types of agents: Ackermann and differential mobile robots. This control proposal lies in enabling a subgroup of agents designated as ``followers'' to achieve and maintain a predefined formation with respect to a ``leader''. The leader has the task to track a desired trajectory. The theoretical results are validated through numerical simulation, where the ability of this strategy to coordinate multiple robots of different types is demonstrated. |
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