Decentralized policies for geometric pattern formation and path coverage
Decentralized policies for geometric pattern formation and path coverage
M. Pavone and E. Frazzoli
This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle \alpha, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of \alpha. In the final part of the paper, we present a strategy to make the agents totally anonymous and we discuss a potential application to coverage path planning. [PDF ]
To appear on the ASME J. of Dynamical Systems, Measurements, and Control, 2007.
