The formation control of multi-agent systems has garnered significant research attention in both theoretical and practical aspects over the past two decades. Despite this, the examination of how external environments impact swarm formation dynamics and the design of formation control algorithms for multi-agent systems in nonlinear external potentials have not been thoroughly explored. In this paper, we apply our theoretical formulation of the formation control algorithm to mobile robots operating in nonlinear external potentials. To validate the algorithm's effectiveness, we conducted experiments using real mobile robots. Furthermore, the results demonstrate the effectiveness of Dynamic Mode Decomposition in predicting the velocity of robots in unknown environments.
翻译：多智能体系统的编队控制在理论和实践方面已经引起了相当大的研究关注，尤其是过去二十年间。然而，外部环境如何影响群体编队动力学，以及为多智能体系统设计非线性外部势场下的编队控制算法，尚未得到充分的探讨。在本文中，我们将我们理论公式应用于在非线性外部势场中运动的机器人的编队控制算法。为了验证该算法的有效性，我们使用实际移动机器人进行了实验。此外，实验结果表明，在预测未知环境中机器人速度方面，动态模态分解是有效的。
相关内容
微信扫码咨询专知VIP会员