Based on a simplified version of the Taylor model, typically used in the collective dynamics of continuous opinion exchange to describe the properties of swarm formation in the presence of external sources of influence or biases that affect a set of agents in the network, a multi-agent-based strategy is proposed for identifying safe areas during dangerous events. This strategy assumes that each agent is able to identify whether its position is in a safe area. In a second step, a consensus protocol is used to refine the safe area estimate, and the unsafe agents are driven within the convex hull of the area estimated by the safe agents. Laboratory experiments are provided as a proof of concept of the proposed methodology in the case of a multi-agent system formed by aerial robots.
A Stubborn Based Strategy for Vehicles Recovery During Dangerous Events
D'Alfonso L.;Fedele G.;
2023-01-01
Abstract
Based on a simplified version of the Taylor model, typically used in the collective dynamics of continuous opinion exchange to describe the properties of swarm formation in the presence of external sources of influence or biases that affect a set of agents in the network, a multi-agent-based strategy is proposed for identifying safe areas during dangerous events. This strategy assumes that each agent is able to identify whether its position is in a safe area. In a second step, a consensus protocol is used to refine the safe area estimate, and the unsafe agents are driven within the convex hull of the area estimated by the safe agents. Laboratory experiments are provided as a proof of concept of the proposed methodology in the case of a multi-agent system formed by aerial robots.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
