Abstract
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: The generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation are guaranteed. Numerical tests assess the theoretical results presented.
| Original language | English |
|---|---|
| Pages (from-to) | 844-867 |
| Number of pages | 24 |
| Journal | Networks and Heterogeneous Media |
| Volume | 20 |
| Issue number | 3 |
| DOIs | |
| State | Published - 2025 |
Keywords
- collision-avoidance control
- decentralised feedback control
- formation control
- multi-agent systems