论文标题
通过操纵复杂的laplacian来控制分布式的编队操作控制
Distributed formation maneuver control by manipulating the complex Laplacian
论文作者
论文摘要
本文提出了一种针对基于拉普拉斯的复杂形成控制的新型机动技术。我们展示了如何修改构建拉普拉斯式的原始权重，以使所需形状的设计稳态运动来自代理之间的局部相互作用。可以利用这些集体动议来解决问题，例如形状共识（具有特定形状的会合），目标的封闭，或以受控速度和前进的转换来协助移动机器人在区域覆盖，护送和旅行任务中分别协助移动机器人。设计的稳态集体运动对应于参考形状的质心，翻译和尺度的旋转。提出的权重修改重新定位了拉普拉斯的零特征值之一，同时保留其相关的特征向量，该特征向量构建所需形状。例如，在虚构或真实轴上的这种搬迁分别诱导旋转和缩放运动。我们将展示如何满足足够的条件，以确保全局融合到所需的形状和运动。最后，我们提供与其他机动技术的模拟和比较。
This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges from the local interactions among the agents. These collective motions can be exploited to solve problems such as the shaped consensus (the rendezvous with a particular shape), the enclosing of a target, or translations with controlled speed and heading to assist mobile robots in area coverage, escorting, and traveling missions, respectively. The designed steady-state collective motions correspond to rotations around the centroid, translations, and scalings of a reference shape. The proposed modification of the weights relocates one of the Laplacian's zero eigenvalues while preserving its associated eigenvector that constructs the desired shape. For example, such relocation on the imaginary or real axis induces rotational and scaling motions, respectively. We will show how to satisfy a sufficient condition to guarantee the global convergence to the desired shape and motions. Finally, we provide simulations and comparisons with other maneuvering techniques.
