Optimal Control of a Swarming Multi-agent System through Guidance of a Leader-Agent

Ertug Olcay; Katharina Gabrich; Boris Lohmann

doi:10.1016/j.ifacol.2019.12.092

Optimal Control of a Swarming Multi-agent System through Guidance of a Leader-Agent

Ertug Olcay, Katharina Gabrich, Boris Lohmann

Chair of Automatic Control

Technical University of Munich

Research output: Contribution to journal › Conference article › peer-review

7 Scopus citations

Abstract

Control of a large group of individuals that form a collective has applications in the fields of swarm robotics, biology, economics and in control of human crowd motion. In this study, a leader-agent guides a group of autonomous agents with limited information to desired objectives. The basic idea of the leader-agent concept is that only the leader-agent knows the predetermined objective of the group and the environment. The leader tries by optimal interventions to steer the entire swarm towards objectives. For this purpose, we utilize an optimal control strategy. Possible objectives for the group include moving to a target position, tracking of a given trajectory, and avoiding collisions with obstacles in the two-dimensional space.

Original language	English
Pages (from-to)	1-6
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	52
Issue number	20
DOIs	https://doi.org/10.1016/j.ifacol.2019.12.092
State	Published - 2019
Event	8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NECSYS 2019 - Chicago, United States Duration: 16 Sep 2019 → 17 Sep 2019

Keywords

cooperative control
multi-agent systems
optimal control

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10.1016/j.ifacol.2019.12.092

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abstract = "Control of a large group of individuals that form a collective has applications in the fields of swarm robotics, biology, economics and in control of human crowd motion. In this study, a leader-agent guides a group of autonomous agents with limited information to desired objectives. The basic idea of the leader-agent concept is that only the leader-agent knows the predetermined objective of the group and the environment. The leader tries by optimal interventions to steer the entire swarm towards objectives. For this purpose, we utilize an optimal control strategy. Possible objectives for the group include moving to a target position, tracking of a given trajectory, and avoiding collisions with obstacles in the two-dimensional space.",

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AB - Control of a large group of individuals that form a collective has applications in the fields of swarm robotics, biology, economics and in control of human crowd motion. In this study, a leader-agent guides a group of autonomous agents with limited information to desired objectives. The basic idea of the leader-agent concept is that only the leader-agent knows the predetermined objective of the group and the environment. The leader tries by optimal interventions to steer the entire swarm towards objectives. For this purpose, we utilize an optimal control strategy. Possible objectives for the group include moving to a target position, tracking of a given trajectory, and avoiding collisions with obstacles in the two-dimensional space.

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Optimal Control of a Swarming Multi-agent System through Guidance of a Leader-Agent

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Keywords

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