The main goal of this paper is to design a team of agents that can accomplish multi-target pursuit formation using a developed leader-follower strategy.It is supposed that every target can accept a certain number of agents.First,each agent can automatically choose its target based on the distance from the agent to the target and the number of agents accepted by the target.In view of the fact that all agents are randomly dispersed in the workplace at the initial time,we present a numbering strategy for them.During the movement of agents,not every agent can always obtain pertinent state information about the targets.So,a developed leader-follower strategy and a pursuit formation algorithm are proposed.Under the proposed method,agents with the same target can maintain a circle formation.Furthermore,it turns out that the pursuit formation algorithm for agents to the desired formation is convergent.Simulation studies are provided to illustrate the effectiveness of the proposed method.
In this paper, a distributed control law for optimally persistent formation of leader-follower multi-agent sys...
Shikai Shao 1 , Xiaoyuan Luo 1 , Tao Jin 2 , Xinping Guan 1,3 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China 2. College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China 3. School of Electronic and Electric Engineering, Shanghai Jiangtong University, Shanghai, 200240, China
We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems.Compared with the existing results,the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively.Moreover,the leader can be a first-order or a second-order integrator agent.Finally,some simulation examples are employed to verify the efficiency of the theoretical results.
