Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

Formation Control with Size Scaling using Relative Position Feedback

Samuel Coogan

EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2013-33
May 1, 2013

http://www.eecs.berkeley.edu/Pubs/TechRpts/2013/EECS-2013-33.pdf

We consider a multiagent coordination problem where the objective is to steer a team of mobile agents into a formation of variable size. We assume the shape description of the formation is known to all agents, but the desired size scaling of the formation is known only to a subset of leader agents. We present a strategy in which each agent communicates a scalar value to its neighbors and two strategies that allow the agents to maneuver to the desired scaled formation using only local relative position information. The first strategy does not require global knowledge of which agents are leaders, and the latter two strategies can be implemented using information gathered via local sensors with no interagent communication. We compare the methods through several examples with simulations.

Advisor: Murat Arcak


BibTeX citation:

@mastersthesis{Coogan:EECS-2013-33,
    Author = {Coogan, Samuel},
    Title = {Formation Control with Size Scaling using Relative Position Feedback},
    School = {EECS Department, University of California, Berkeley},
    Year = {2013},
    Month = {May},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2013/EECS-2013-33.html},
    Number = {UCB/EECS-2013-33},
    Abstract = {We consider a multiagent coordination problem where the objective is to steer a team of mobile agents into a formation of variable size. We assume the shape description of the formation is known to all agents, but the desired size scaling of the formation is known only to a subset of leader agents. We present a strategy in which each agent communicates a scalar value to its neighbors and  two strategies that allow the agents to maneuver to the desired scaled formation using only local relative position information. The first strategy does not require global knowledge of which agents are leaders, and the latter two strategies can be implemented using information gathered via local sensors with no interagent communication. We compare the methods through several examples with simulations.}
}

EndNote citation:

%0 Thesis
%A Coogan, Samuel
%T Formation Control with Size Scaling using Relative Position Feedback
%I EECS Department, University of California, Berkeley
%D 2013
%8 May 1
%@ UCB/EECS-2013-33
%U http://www.eecs.berkeley.edu/Pubs/TechRpts/2013/EECS-2013-33.html
%F Coogan:EECS-2013-33