Flocking with Obstacle Avoidance

Olfati-Saber, Dr. Reza (2003) Flocking with Obstacle Avoidance. Technical Report. California Institute of Technology. [CaltechCDSTR:2003.006]

Full text available as:

PDF - Requires Adobe Acrobat Reader or other PDF viewer.

Abstract

In this paper, we provide a dynamic graph theoretical framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs. We provide models of nets and flocks and discuss the realization/embedding issues related to structural nets and flocks. This allows task representation and execution for a network of agents called alpha-agents. We also consider flocking in the presence of multiple obstacles. This task is achieved by introducing two other types of agents called beta-agents and gamma-agents. This framework enables us to address split/rejoin and squeezing maneuvers for nets/flocks of dynamic agents that communicate with each other. The problems arising from switching topology of these networks of mobile agents make the analysis and design of the decision-making protocols for such networks rather challenging. We provide simulation results that demonstrate the effectiveness of our theoretical and computational tools.

EPrint Type:	Monograph (Technical Report)
Additional Information:	[Alternate URL: http://www.cds.caltech.edu/~olfati/papers/cdc03/cdstr-ros-03-006.pdf]
Subjects:	All Records
ID Code:	33
Deposited By:	Dr. Reza Olfati-Saber
Deposited On:	08 September 2003
Unique Identifier:	CaltechCDSTR:2003.006
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:2003.006
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

Archive Staff Only: edit this record