The paper presents a novel methodology for the control management of a swarm\r\nof autonomous vehicles. The vehicles, or agents, may have different skills, and be\r\nemployed for different missions. The methodology is based on the definition of descriptor\r\nfunctions that model the capabilities of the single agent and each task or mission. The\r\nswarm motion is controlled by minimizing a suitable norm of the error between agents�\r\ndescriptor functions and other descriptor functions which models the entire mission. The\r\nvalidity of the proposed technique is tested via numerical simulation, using different task\r\nassignment scenarios.
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