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Flocking with Obstacle Avoidance

Olfati-Saber, Dr. Reza (2003) Flocking with Obstacle Avoidance. California Institute of Technology . (Unpublished)

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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.

Item Type:Report or Paper (Technical Report)
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Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2003.006
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Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28025
Deposited By: Imported from CaltechCDSTR
Deposited On:08 Sep 2003
Last Modified:03 Oct 2019 03:28

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