Formation Tracking With Size Scaling of Double Integrator Agents

  • Djati Wibowo Djamari Mechanical Engineering Study Program, Sampoerna University, Indonesia
  • Asif Awaludin Research Center for Climate and Atmosphere, National Research and Innovation Agency, Indonesia
  • Halimurrahman Halimurrahman Research Center for Climate and Atmosphere, National Research and Innovation Agency, Indonesia
  • Rommy Hartono Research Center for Satellite Technology, National Research and Innovation Agency, Indonesia
  • Patria Rachman Hakim Research Center for Satellite Technology, National Research and Innovation Agency, Indonesia
  • Adi Wirawan Research Center for Aeronautics Technology, National Research and Innovation Agency, Indonesia
  • Haikal Satrya Utama Mechanical Engineering Study Program, Sampoerna University, Indonesia
  • Tiara Kusuma Dewi Mechanical Engineering Study Program, Sampoerna University, Indonesia
Keywords: Scalable Formation, Double Integrator, Switching Network, Formation Tracking

Abstract

This paper considers the problem of distributed formation scaling of Multi-Agent Systems (MASs) under a switching-directed graph where the scaling of formation is determined by one leader agent. A directed-sensing graph where neighboring agents exchange their relative displacement and a directed-communication graph where neighboring agents exchange the information about formation scaling factor and velocity factors are used in this paper. One leader agent which decides the formation scaling factor as well as the velocity of the group is chosen among agents. It is shown that under a switching-directed graph, the group of agents achieves the desired formation pattern with the desired scaling factor as well as the desired group's velocity if the union of the sensing and communication graphs contains a directed spanning tree.

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Published
2024-07-15
How to Cite
[1]
Djamari, D.W., Awaludin, A., Halimurrahman, H., Hartono, R., Hakim, P.R., Wirawan, A., Utama, H.S. and Dewi, T.K. 2024. Formation Tracking With Size Scaling of Double Integrator Agents. MENDEL. 30, 1 (Jul. 2024), 23-32. DOI:https://doi.org/10.13164/mendel.2024.1.023.
Section
Research articles