TY - JOUR
T1 - Decentralised control of multiple mobile agents for quick, smooth, and safe movement
AU - Kano, Takeshi
AU - Iwamoto, Mayuko
AU - Ueyama, Daishin
N1 - Funding Information:
The authors thank Prof. Akio Ishiguro of Tohoku University and Dr. Yasufumi Yamada of Hiroshima University for their helpful suggestions. This work was supported by a program for the creation of interdisciplinary research at FRIS, Tohoku University, Japan , and by the Tateishi Science and Technology Foundation, Japan .
Publisher Copyright:
© 2021 The Authors
PY - 2021/6/15
Y1 - 2021/6/15
N2 - There are growing applications of multiagent systems in which each mobile agent moves towards its destination while avoiding others, e.g. robots in warehouses, self-driving cars, and flying drones. In these systems, it is desirable that each agent moves quickly, smoothly, and safely. However, simple methods for satisfying these three functions simultaneously have not been developed. To address this challenge, we capture the essential control mechanism for achieving multiobjective tasks, drawing inspiration from pedestrian flow. We propose a decentralised control scheme, an extension of the social force model, which is a simple model of pedestrian flow, wherein agents can avoid other agents based on the prediction of their future motions. Through simulations, we demonstrate that the proposed control scheme enables agents to move quickly, smoothly, and safely.
AB - There are growing applications of multiagent systems in which each mobile agent moves towards its destination while avoiding others, e.g. robots in warehouses, self-driving cars, and flying drones. In these systems, it is desirable that each agent moves quickly, smoothly, and safely. However, simple methods for satisfying these three functions simultaneously have not been developed. To address this challenge, we capture the essential control mechanism for achieving multiobjective tasks, drawing inspiration from pedestrian flow. We propose a decentralised control scheme, an extension of the social force model, which is a simple model of pedestrian flow, wherein agents can avoid other agents based on the prediction of their future motions. Through simulations, we demonstrate that the proposed control scheme enables agents to move quickly, smoothly, and safely.
KW - Decentralised control
KW - Multirobots
KW - Pedestrian flow
KW - Social force model
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U2 - 10.1016/j.physa.2021.125898
DO - 10.1016/j.physa.2021.125898
M3 - Article
AN - SCOPUS:85102042360
VL - 572
JO - Physica A: Statistical Mechanics and its Applications
JF - Physica A: Statistical Mechanics and its Applications
SN - 0378-4371
M1 - 125898
ER -