Continuum deformation of multi-agent systems

This monograph presents new algorithms for formation control of multi-agent systems (MAS) based on principles of continuum mechanics. Beginning with an overview of traditional methods, the author then introduces an innovative new approach whereby agents of an MAS are considered as particles in a con...

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Autor principal: Rastgoftar, Hossein
Lenguaje:eng
Publicado: Springer 2016
Materias:
Acceso en línea:https://dx.doi.org/10.1007/978-3-319-41594-9
http://cds.cern.ch/record/2240959
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author Rastgoftar, Hossein
author_facet Rastgoftar, Hossein
author_sort Rastgoftar, Hossein
collection CERN
description This monograph presents new algorithms for formation control of multi-agent systems (MAS) based on principles of continuum mechanics. Beginning with an overview of traditional methods, the author then introduces an innovative new approach whereby agents of an MAS are considered as particles in a continuum evolving in ℝn whose desired configuration is required to satisfy an admissible deformation function. The necessary theory and its validation on a mobile-agent-based swarm test bed are considered for two primary tasks: homogeneous transformation of the MAS and deployment of a random distribution of agents on a desired configuration. The framework for this model is based on homogeneous transformations for the evolution of an MAS under no inter-agent communication, local inter-agent communication, and intelligent perception by agents. Different communication protocols for MAS evolution, the robustness of tracking of a desired motion by an MAS evolving in ℝn, and the effect of communication delays in an MAS evolving under consensus algorithms or homogeneous maps are also explored. Featuring appendices which introduce the requisite concepts from continuum kinematics and graph theory, this monograph will provide advanced graduate students and researchers with the necessary background to understand and apply the methods presented.
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spelling cern-22409592021-04-21T19:23:17Zdoi:10.1007/978-3-319-41594-9http://cds.cern.ch/record/2240959engRastgoftar, HosseinContinuum deformation of multi-agent systemsMathematical Physics and MathematicsThis monograph presents new algorithms for formation control of multi-agent systems (MAS) based on principles of continuum mechanics. Beginning with an overview of traditional methods, the author then introduces an innovative new approach whereby agents of an MAS are considered as particles in a continuum evolving in ℝn whose desired configuration is required to satisfy an admissible deformation function. The necessary theory and its validation on a mobile-agent-based swarm test bed are considered for two primary tasks: homogeneous transformation of the MAS and deployment of a random distribution of agents on a desired configuration. The framework for this model is based on homogeneous transformations for the evolution of an MAS under no inter-agent communication, local inter-agent communication, and intelligent perception by agents. Different communication protocols for MAS evolution, the robustness of tracking of a desired motion by an MAS evolving in ℝn, and the effect of communication delays in an MAS evolving under consensus algorithms or homogeneous maps are also explored. Featuring appendices which introduce the requisite concepts from continuum kinematics and graph theory, this monograph will provide advanced graduate students and researchers with the necessary background to understand and apply the methods presented.Springeroai:cds.cern.ch:22409592016
spellingShingle Mathematical Physics and Mathematics
Rastgoftar, Hossein
Continuum deformation of multi-agent systems
title Continuum deformation of multi-agent systems
title_full Continuum deformation of multi-agent systems
title_fullStr Continuum deformation of multi-agent systems
title_full_unstemmed Continuum deformation of multi-agent systems
title_short Continuum deformation of multi-agent systems
title_sort continuum deformation of multi-agent systems
topic Mathematical Physics and Mathematics
url https://dx.doi.org/10.1007/978-3-319-41594-9
http://cds.cern.ch/record/2240959
work_keys_str_mv AT rastgoftarhossein continuumdeformationofmultiagentsystems