{"title":"Cyclic pursuit formation control for arbitrary desired shapes","authors":"Anna Fujioka , Masaki Ogura , Naoki Wakamiya","doi":"10.1016/j.jfranklin.2024.107467","DOIUrl":null,"url":null,"abstract":"<div><div>A multi-agent system (MAS) comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention due to their wide range of applications. Within this context, formation control has emerged as a prominent task, wherein agents collaboratively shape and maneuver while preserving formation integrity. This study focuses on cyclic pursuit, a method that facilitates the formation of circles, ellipses, and figure eights under the assumption that agents can only perceive the relative positions of those preceding them. However, the scope of this method has been restricted to these specific shapes, rendering the feasibility of forming other shapes uncertain. To overcome this limitation, we propose a novel method based on cyclic pursuit that is capable of forming a broader array of shapes, enabling agents to individually form the desired shape while pursuing preceding agents, thereby extending the repertoire of achievable formations. We develop two scenarios concerning the information available to the agents and devise formation control methods tailored to each scenario. Through extensive simulations, we demonstrate the efficacy of the proposed method in forming multiple shapes, including those represented as a Fourier series, thereby underscoring the versatility and effectiveness of the proposed approach.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 2","pages":"Article 107467"},"PeriodicalIF":3.7000,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003224008883","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
A multi-agent system (MAS) comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention due to their wide range of applications. Within this context, formation control has emerged as a prominent task, wherein agents collaboratively shape and maneuver while preserving formation integrity. This study focuses on cyclic pursuit, a method that facilitates the formation of circles, ellipses, and figure eights under the assumption that agents can only perceive the relative positions of those preceding them. However, the scope of this method has been restricted to these specific shapes, rendering the feasibility of forming other shapes uncertain. To overcome this limitation, we propose a novel method based on cyclic pursuit that is capable of forming a broader array of shapes, enabling agents to individually form the desired shape while pursuing preceding agents, thereby extending the repertoire of achievable formations. We develop two scenarios concerning the information available to the agents and devise formation control methods tailored to each scenario. Through extensive simulations, we demonstrate the efficacy of the proposed method in forming multiple shapes, including those represented as a Fourier series, thereby underscoring the versatility and effectiveness of the proposed approach.
期刊介绍:
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.