Control of many agents by moving their targets: Maintaining separation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Consider a large group of agents chasing a small group of moving targets. Assume each agent moves at constant speed toward the closest target. This paper studies the problem of controlling the agents indirectly by specifying the motion of the targets. In particular, it considers the problem of maintaining a minimum separation distance between each pair of agents, something that is impossible to do with only one target. This paper shows that only two targets are necessary to maintain separation between four agents. It also shows results in simulation to support the conjecture that only two targets are necessary to maintain separation between any number of agents, given suitable initial conditions.

Original languageEnglish (US)
Title of host publicationRecent Progress in Robotics
Subtitle of host publicationViable Robotic Service to Human
EditorsSukhan Lee, Il Hong Suh, Kim Mun Sang
Pages145-156
Number of pages12
DOIs
StatePublished - Jan 1 2008

Publication series

NameLecture Notes in Control and Information Sciences
Volume370
ISSN (Print)0170-8643

ASJC Scopus subject areas

  • Library and Information Sciences

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