Abstract
The problem of the equidistant deployment of mobile agents on a line segment is studied. It is assumed that agent dynamics are modeled by linear second-order models. Two types of control protocols are studied: with and without relative velocity measurements. For any positive damping coefficient of agents we propose a control protocol that ensures the achievement of the control goal and possesses robustness for any communication delays and any switching topology. The designed multi-agent system behavior is illustrated by numerical simulation. The proofs of the results are based on the theory of positive systems.
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