TY  - GEN
AU  - Xiwang, Dong
TI  - Formation and containment control for high-order linear swarm systems
SN  - 9783662478356
U1  - 629.8 
PY  - 2016///
CY  - Berlin
PB  - Springer
KW  - Engineering
KW  - Swarm Intelligence
KW  - Multiagent Systems
KW  - Artificial Intelligence
KW  - Automatic Control
N1  - Includes bibliographical references and index
N2  - This book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time. Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results
ER  -