Finite-time Flocking Control of a Swarm of Cucker-smale Agents With Collision Avoidance

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aut.relation.conference24th International Conference on Mechatronics and Machine Vision in Practiceen_NZ
aut.researcherLai, Edmund
dc.contributor.authorMa, Jen_NZ
dc.contributor.authorLai, Een_NZ
dc.date.accessioned2018-01-10T22:47:45Z
dc.date.available2018-01-10T22:47:45Z
dc.date.copyright2017-11-21en_NZ
dc.date.issued2017-11-21en_NZ
dc.description.abstractThis paper considers the application of finite-time control to a Cucker-Smale flocking model of autonomous agents with collision avoidance. A mathematical expression for the upper bound on the flocking time is derived. Previous results without considering collision avoidance showed that the flocking time decreases as the number of robots in the flock increases, which is counter-intuitive. We showed that, with collision avoidance, the flocking time indeed increases with the flock size. Our mathematical results are verified by computer simulation. Simulation results also show that certain control parameters and noise can be used to reduce the flocking time.
dc.identifier.citationPublished in: Mechatronics and Machine Vision in Practice (M2VIP), 2017 24th International Conference, 21-23 Nov. 2017, Auckland, New Zealand.
dc.identifier.doi10.1109/M2VIP.2017.8211507en_NZ
dc.identifier.isbn978-1-5090-6546-2en_NZ
dc.identifier.urihttps://hdl.handle.net/10292/11067
dc.publisherIEEE
dc.relation.urihttp://ieeexplore.ieee.org/document/8211507/
dc.rightsCopyright © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.rights.accessrightsOpenAccessen_NZ
dc.subjectFinite-time; Cucker-Smale Model; Flocking; Collision Avoidance
dc.titleFinite-time Flocking Control of a Swarm of Cucker-smale Agents With Collision Avoidanceen_NZ
dc.typeConference Contribution
pubs.elements-id323163
pubs.organisational-data/AUT
pubs.organisational-data/AUT/Design & Creative Technologies
pubs.organisational-data/AUT/Design & Creative Technologies/Engineering, Computer & Mathematical Sciences
pubs.organisational-data/AUT/PBRF
pubs.organisational-data/AUT/PBRF/PBRF Design and Creative Technologies
pubs.organisational-data/AUT/PBRF/PBRF Design and Creative Technologies/PBRF ECMS
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