A Kinematic Model for Swarm Finite-Time Trajectory Tracking.

Area of Science:

• Robotics
• Control Theory
• Multi-agent Systems

Background:

• Coordinated control of multi-agent systems is crucial for complex tasks.
• Existing models often lack flexibility in swarm configuration.
• Ensuring stable and predictable swarm behavior is a key challenge.

Purpose of the Study:

• To develop a kinematic model for mobile agent swarms capable of trajectory tracking.
• To enable finite-time convergence of the swarm centroid to a reference path.
• To facilitate controlled aggregation and diverse formations of agents.

Main Methods:

• A novel kinematic model is proposed for swarm dynamics.
• Analysis of the model's properties, focusing on centroid tracking and aggregation.
• Introduction of an interaction matrix to control inter-agent relationships and swarm shape.

Main Results:

• The proposed model guarantees finite-time trajectory tracking for the swarm centroid.
• Agents achieve finite-time aggregation within a dynamic hyper-ball around the centroid path.
• The interaction matrix allows for the formation of various swarm shapes (spheres, ellipsoids, lines).

Conclusions:

• The developed model offers precise control over swarm trajectory tracking and aggregation.
• The interaction matrix provides a powerful tool for customizing swarm configurations and ensuring collision avoidance.
• This research advances the field of multi-agent systems with a flexible and robust control framework.