ISBN 9783843948531

978-3-8439-4853-1, Reihe Regelungstechnik

Avraham Turgeman
Flocking and Formation as Mission Control Strategies for Multi-Agent Systems: Comparative Evaluation and Development of a Cooperative Approach

114 Seiten, Dissertation Technische Universität Hamburg (2021), Softcover, A5

Zusammenfassung / Abstract

In this work novel mission control strategies are proposed for multiagent systems, that can be applied to scenarios such as source seeking and level curve tracking. A gradient-based method for source seeking and subsequent level curve tracking is presented, where the agents reach discrete consensus on whether they should switch from Task 1 to Task 2. Moreover, a gradient-free flocking-based approach to the source seeking problem is developed that is based on glowworm swarm optimization. The multiple-source-seeking problem for time-varying communication topologies is solved using a combination of bio-inspired attraction with estimated gradient and formation control, where task-switching is performed under a linear temporal logic rule. Finally an approach that combines flocking and formation control techniques is presented, where low-level agents attain a specified formation, while the formation leaders at the upper level flock to locate an unknown extremum. Convergence analysis for all methods is provided, together with simulation results and experimental validation.