Spatial Coordination of Multiple Nonholonomic Agents With Sensory Connectivity Maintenance
提出一种通用控制策略，用于三维空间中多个非完整智能体的协调，并确保相邻智能体保持在传感器检测范围内以维护感知连通性。
This article aims to propose a general control strategy for coordination of multiple nonholonomic agents in three dimensional space. For real-world applications, since the field sensor equipped on the mobile agents for local information detection and estimation has some limited detecting range, it is necessary to guarantee that the nearby agents must stay within this range of the onboard sensor. This is called sensory connectivity maintenance. A function termed as coordination function with sensory connectivity maintenance (CFSCM) is defined to describe the performances of the coordination as well as the sensory connectivity status between the agents. Then, a general control strategy is designed based on the proposed CFSCM for spatial coordination of multiple nonholonomic agents with sensory connectivity maintenance. Moreover, the applications of the proposed control strategy for formation with omnidirectional sensors and flocking with directional sensors are shown, respectively. Finally, some numerical examples are conducted to validate the theoretical analysis.