In this paper we discuss a particular case of synchronization involving a finite population of nonlinearly coupled oscillators. We employ a discrete time approximation of the Kuramoto model in order to achieve the coordination of the heading directions of N identical vehicles moving at a constant speed in a 2D environment; this model acts as a base for a more complex distributed control, the aim of which is to direct the vehicles towards a target, adjusting their trajectories alongside their formation in the process, while avoiding collisions.
Multi-agent swarm control through kuramoto modeling
CENEDESE, ANGELO;FAVARETTO, CHIARA;
2016
Abstract
In this paper we discuss a particular case of synchronization involving a finite population of nonlinearly coupled oscillators. We employ a discrete time approximation of the Kuramoto model in order to achieve the coordination of the heading directions of N identical vehicles moving at a constant speed in a 2D environment; this model acts as a base for a more complex distributed control, the aim of which is to direct the vehicles towards a target, adjusting their trajectories alongside their formation in the process, while avoiding collisions.File in questo prodotto:
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