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Continuum Deformation of Multi-Agent Systems (Hardcover, 1st ed. 2016)
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Continuum Deformation of Multi-Agent Systems (Hardcover, 1st ed. 2016)
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This monograph presents new algorithms for formation control of
multi-agent systems (MAS) based on principles of continuum
mechanics. Beginning with an overview of traditional methods, the
author then introduces an innovative new approach whereby agents of
an MAS are considered as particles in a continuum evolving in n
whose desired configuration is required to satisfy an admissible
deformation function. The necessary theory and its validation on a
mobile-agent-based swarm test bed are considered for two primary
tasks: homogeneous transformation of the MAS and deployment of a
random distribution of agents on a desired configuration. The
framework for this model is based on homogeneous transformations
for the evolution of an MAS under no inter-agent communication,
local inter-agent communication, and intelligent perception by
agents. Different communication protocols for MAS evolution, the
robustness of tracking of a desired motion by an MAS evolving in n,
and the effect of communication delays in an MAS evolving under
consensus algorithms or homogeneous maps are also explored.
Featuring appendices which introduce the requisite concepts from
continuum kinematics and graph theory, this monograph will provide
advanced graduate students and researchers with the necessary
background to understand and apply the methods presented.
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