Continuum Deformation of Multi-Agent Systems by Hossein Rastgoftar

Author:Hossein Rastgoftar
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

(3.136)

Shown in Fig. 3.33 is a typical communication graph applied by an MAS to move collectively in a plane. In Fig. 3.33 rounded nodes represent leaders, where they are located at the vertices of the leading polygon and numbered by 1, 2, …, 5. Furthermore, followers shown by squares are all placed inside the leading polygon and numbered by 6, 5, …, 14. Leader-follower interaction is shown by an arrow terminated to the follower. This is because leaders move independently, but position of a leader is tracked by a follower. Furthermore, follower-follower communication is shown by a nondirected edge. This implies bidirectional communication between two in-neighbor followers.

Fig. 3.33A typical communication graph applied for planar continuum of an MAS using the method of preservation of area ratios

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