Cooperative Line Formation Control of Multi-Agent Systems Based on Least Squares Estimation
Samratul Fuady (1*), Arumjeni Mitayani (2), Ario Birmiawan Widyoutomo (3), Arief Suryadi Satyawan (4), Alexander Christanto Budiman (5), Suyoto Suyoto (6), Mochamad Mardi Marta Dinata (7) (1) Department of Electrical Engineering, Jambi University - Indonesia
(2) Research Center for Telecommunication, National Research and Innovation Agency - Indonesia
(3) - Indonesia
(4) Research Center for Telecommunication, National Research and Innovation Agency - Indonesia
(5) Research Center for Transportation Technology, National Research and Innovation Agency - Indonesia
(6) Research Center for Telecommunication, National Research and Innovation Agency - Indonesia
(7) Research Center for Telecommunication, National Research and Innovation Agency - Indonesia
(*) Corresponding Author
Received: August 14, 2022; Revised: September 12, 2022
Accepted: November 15, 2022; Published: December 31, 2022
Abstract
In this paper, we consider the problem of multi-agent systems where each agent aims to establish a line formation in a distributed manner. In constructing an efficient line formation, finding a line with the closest total distance from every agent is essential. We propose a formation control using least squares estimation (LSE) performed by each agent with only the local information that consists of the corresponding agent’s and neighbors’ positions. Each agent calculates the local cost function, which is the squared distance from the LSE line to the related agent’s and its neighbors’ positions. Our goal is to minimize the global cost function, which is the sum of these local cost functions. To achieve this, we employ distributed optimization to the global cost function of the overall system using the subgradient method performed by each agent locally. We evaluate our proposed method using numerical simulation, and the result complies with our goal of this paper
http://dx.doi.org/10.55981/jet.490 Keywords
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