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Fuzzy Formation Control and Collision Avoidance for Multiagent Systems
Mathematical Problems in Engineering
This paper aims to investigate the formation control of leader-follower multiagent systems, where the problem of collision avoidance is considered. Based on the graph-theoretic concepts and locally distributed information, a neural fuzzy formation controller is designed with the capability of online learning. The learning rules of controller parameters can be derived from the gradient descent method. To avoid collisions between neighboring agents, a fuzzy separation controller is proposed suchdoi:10.1155/2013/908180 fatcat:gakqyjopcfa4pkfn7zlphhsxyi