The descriptor function framework has shown potential as a general tool for the synthesis of control structures of swarms of heterogeneous agents. The paper presents some extensions to the framework, which include modified descriptor functions to account for agents’ special properties, and the introduction of an obstacle/collision avoidance algorithm. The performance are analyzed via numerical simulation.
Multi-Agent Coordination with arbitrarily shaped Descriptor Functions
POLLINI, LORENZO;INNOCENTI, MARIO
2013-01-01
Abstract
The descriptor function framework has shown potential as a general tool for the synthesis of control structures of swarms of heterogeneous agents. The paper presents some extensions to the framework, which include modified descriptor functions to account for agents’ special properties, and the introduction of an obstacle/collision avoidance algorithm. The performance are analyzed via numerical simulation.File in questo prodotto:
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