TY - GEN
T1 - Distributed Control for Flocking Maneuvers via Acceleration-Weighted Neighborhooding
AU - Roy, Shouvik
AU - Mehmood, Usama
AU - Grosu, Radu
AU - Smolka, Scott A.
AU - Stoller, Scott D.
AU - Tiwari, Ashish
N1 - Publisher Copyright:
© 2021 American Automatic Control Council.
PY - 2021/5/25
Y1 - 2021/5/25
N2 - We introduce the concept of Distributed Model Predictive Control (DMPC) with Acceleration-Weighted Neighborhooding (AWN) in order to synthesize a distributed and symmetric controller for high-speed flocking maneuvers (angu-lar turns in general). Acceleration-Weighted Neighborhooding exploits the imbalance in agent accelerations during a turning maneuver to ensure that actively turning agents are prioritized. We show that with our approach, a flocking maneuver can be achieved without it being a global objective. Only a small subset of the agents, called initiators, need to be aware of the maneuver objective. Our AWN-DMPC controller ensures this local information is propagated throughout the flock in a scale-free manner with linear delays. Our experimental evaluation conclusively demonstrates the maneuvering capabilities of a distributed flocking controller based on AWN-DMPC.
AB - We introduce the concept of Distributed Model Predictive Control (DMPC) with Acceleration-Weighted Neighborhooding (AWN) in order to synthesize a distributed and symmetric controller for high-speed flocking maneuvers (angu-lar turns in general). Acceleration-Weighted Neighborhooding exploits the imbalance in agent accelerations during a turning maneuver to ensure that actively turning agents are prioritized. We show that with our approach, a flocking maneuver can be achieved without it being a global objective. Only a small subset of the agents, called initiators, need to be aware of the maneuver objective. Our AWN-DMPC controller ensures this local information is propagated throughout the flock in a scale-free manner with linear delays. Our experimental evaluation conclusively demonstrates the maneuvering capabilities of a distributed flocking controller based on AWN-DMPC.
UR - https://www.scopus.com/pages/publications/85111920899
U2 - 10.23919/ACC50511.2021.9483155
DO - 10.23919/ACC50511.2021.9483155
M3 - Conference contribution
AN - SCOPUS:85111920899
T3 - Proceedings of the American Control Conference
SP - 2745
EP - 2750
BT - 2021 American Control Conference, ACC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 American Control Conference, ACC 2021
Y2 - 25 May 2021 through 28 May 2021
ER -