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JRM Vol.36 No.3 pp. 517-525
doi: 10.20965/jrm.2024.p0517
(2024)

Paper:

Consensus Control of Multi-Agent System with Virtual Agents Considering Obstacle Avoidance

Hiroki Kimura and Atsushi Okuyama

Tokai University
4-1-1 Kitakaname, Hiratsuka, Kanagawa 259-1292, Japan

Received:
November 30, 2023
Accepted:
March 27, 2024
Published:
June 20, 2024
Keywords:
multi-agent system, obstacle avoidance, funnel control, dynamic graph, virtual agents
Abstract

A multi-agent system (MAS) is a system whose overall behavior is determined by local interactions among multiple autonomous agents. Recently, research has been conducted on the application of MASs in real-world environments, in which the agents are assumed to be robots that drive on the ground, i.e., autonomous mobile robots, and acquire external environmental information using cameras. In such cases, the information that can be obtained by the agent is limited to the field of view (FOV) of the respective camera, and the overall graph structure is dynamic and time varying. In addition, because the FOV may be obstructed by obstacles during camera measurements, obstacle avoidance must be considered. In this study, we examined the MAS consensus problem considering the effects of a limited FOV obstructed by obstacles. Specifically, we propose a control method using virtual agents that considers obstacle avoidance based on funnel control. In addition, simulation study was performed to demonstrate the effectiveness of the proposed method for solving the MAS consensus problem in an environment with obstacles.

Obstacle avoidance by virtual agents

Obstacle avoidance by virtual agents

Cite this article as:
H. Kimura and A. Okuyama, “Consensus Control of Multi-Agent System with Virtual Agents Considering Obstacle Avoidance,” J. Robot. Mechatron., Vol.36 No.3, pp. 517-525, 2024.
Data files:
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Last updated on Jul. 12, 2024