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  •   Open Research
  • AUT Faculties
  • Faculty of Design and Creative Technologies (Te Ara Auaha)
  • School of Engineering, Computer and Mathematical Sciences - Te Kura Mātai Pūhanga, Rorohiko, Pāngarau
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Finite-time Flocking Control of a Swarm of Cucker-smale Agents With Collision Avoidance

Ma, J; Lai, E
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Conference contribution (233.7Kb)
Permanent link
http://hdl.handle.net/10292/11067
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Abstract
This 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.
Keywords
Finite-time; Cucker-Smale Model; Flocking; Collision Avoidance
Date
November 21, 2017
Source
Published in: Mechatronics and Machine Vision in Practice (M2VIP), 2017 24th International Conference, 21-23 Nov. 2017, Auckland, New Zealand.
Item Type
Conference Contribution
Publisher
IEEE
DOI
10.1109/M2VIP.2017.8211507
Publisher's Version
http://ieeexplore.ieee.org/document/8211507/
Rights Statement
Copyright © 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.

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