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Virtual leaders, artificial potentials and coordinated control of groups
Abstract
We present a framework for coordinated and distributed control of multiple autonomous vehicles using artificial potentials and virtual leaders. Artificial potentials define interaction control forces between neighboring vehicles and are designed to enforce a desired inter-vehicle spacing. A virtual leader is a moving reference point that influences vehicles in its neighborhood by means of additional artificial potentials. Virtual leaders can be used to manipulate group geometry and direct the motion of the group. The approach provides a construction for a Lyapunov function to prove closed-loop stability using the system kinetic energy and the artificial potential energy. Dissipative control terms are included to achieve asymptotic stability. The framework allows for a homogeneous group with no ordering of vehicles; this adds robustness of the group to a single vehicle failure.
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Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Cited by
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Jadbabaie, A., Lin, J., & Morse, A. S. (2003) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2003.812781 · Cited by 8,339
Closed-Loop Turbulence Control: Progress and Challenges
Brunton, S. L., & Noack, B. R. (2015) · Applied Mechanics Reviews · doi:10.1115/1.4031175 · Cited by 623
Stable flocking of mobile agents. II. Dynamic topology
Tanner, H. G., Jadbabaie, A., & Pappas, G. J. (2004) · 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) · doi:10.1109/cdc.2003.1272911 · Cited by 527
(2018) · IEEE Control Systems · doi:10.1109/mcs.2018.2810460 · Cited by 518
Self-organization of nodes in mobile ad hoc networks using evolutionary games and genetic algorithms
Kusyk, J., Sahin, C. S., Umit Uyar, M., Urrea, E., & Gundry, S. (2011) · Journal of Advanced Research · doi:10.1016/j.jare.2011.04.006 · Cited by 45
Metadata
- Authors
- Leonard, N. E., & Fiorelli, E.
- Venue
- Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)
- Publisher
- IEEE
- Published
- 2003-07-10
- Volume
- 3
- Pages
- 2968-2973
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W2130647945
- Cited by
- 1,262
- References
- 1
- FWCI
- 44.69
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Leonard, N. E., & Fiorelli, E. (2003). Virtual leaders, artificial potentials and coordinated control of groups. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228). https://doi.org/10.1109/cdc.2001.980728
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
