RESUMEN
In this article, a novel approach to generating kinematic state trajectories for single-integrator multiagent systems is developed with the aim of addressing cooperative surveillance tasks of rectangular areas. In particular, the key idea consists in driving the involved agents within a so-called containment region while simultaneously reaming outside a forbidden area around the prescribed target. As one of its main features, the proposed kinematics allows the whole multiagent configuration to rotate safely along the perimeter under both full and partial connectivity properties of the underlying topology graph. Steady-state conditions are analyzed and sufficient conditions are derived in terms of kinematic model parameters. Finally, a set of simulations is aimed at showing the capability of the kinematic descriptions to quickly buttonhole the containment region and to keep a rotating behavior around the target.
RESUMEN
This paper focuses on the trajectory tracking problem for a swarm of mobile agents. A kinematic model describing the interactions and evolutions of the swarm members is proposed and its main properties are analyzed emphasizing that the agents centroid is ensured to track in finite-time a given reference trajectory and that the agents reach an aggregation in finite-time in a hyper-ball moving around the centroid path. One of the main characteristics of the model is the presence of an interaction matrix, between agents coordinates, which allows to define some properties of the swarm allowing the creation of different forms of agents aggregations, i.e., spheres, ellipsoids, straight lines, etc. Indeed swarm properties related to the agents configuration around the performed path along with agents interactions and absence of collisions are analyzed depending on the chosen interaction matrix.