Email this article Problem of uniform deployment on a line segment for second-order agents
- Authors: Proskurnikov A.V.1,2,3, Parsegov S.E.4
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Affiliations:
- St. Petersburg State University
- Institute of Problems of Mechanical Engineering
- St. Petersburg State University of Information Technologies, Mechanics, and Optics (ITMO)
- National Research University Higher School of Economics
- Issue: Vol 77, No 7 (2016)
- Pages: 1248-1258
- Section: Navigation and Control of Moving Systems
- URL: https://journals.rcsi.science/0005-1179/article/view/150387
- DOI: https://doi.org/10.1134/S0005117916070110
- ID: 150387
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Abstract
Consideration was given to a special problem of controlling a formation of mobile agents, that of uniform deployment of several identical agents on a segment of the straight line. For the case of agents obeying the first-order dynamic model, this problem seems to be first formulated in 1997 by I.A. Wagner and A.M. Bruckstein as “row straightening.” In the present paper, the straightening algorithm was generalized to a more interesting case where the agent dynamics obeys second-order differential equations or, stated differently, it is the agent’s acceleration (or the force applied to it) that is the control.
About the authors
A. V. Proskurnikov
St. Petersburg State University; Institute of Problems of Mechanical Engineering; St. Petersburg State University of Information Technologies, Mechanics, and Optics (ITMO)
Author for correspondence.
Email: avp1982@gmail.com
Russian Federation, St. Petersburg; St. Petersburg; St. Petersburg
S. E. Parsegov
National Research University Higher School of Economics
Email: avp1982@gmail.com
Russian Federation, Moscow
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