Tammes problem inspired multi-agent formation control over a sphere

Anjaly, P and Ratnoo, A (2018) Tammes problem inspired multi-agent formation control over a sphere. In: AIAA Information Systems-AIAA Infotech at Aerospace, 2018, 8–12 January 2018, Kissimmee, Florida.

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Abstract

Uniform multi-agent distribution over a manifold is of interest pertaining to applications in surveillance and localization. This paper discusses the problem of distributing a group of N agents on a sphere while maximizing the minimum inter-agent distance. Inspired by the Tammes problem of arrangement of the exit places on pollen grains, a gradient-based control law is presented which uses Riesz energy potential function. Analytic guarantee for the stability of the system is derived. Simulation results are presented with the agents achieving the desired equilibrium distribution from arbitrary initial conditions. Apart from UAV applications, the problem is of significant interest to a variety of applications including geodesic design, computational geometry, and the study of self-assembly of viruses.

Item Type:	Conference Paper
Publication:	AIAA Information Systems-AIAA Infotech at Aerospace, 2018
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to the American Institute of Aeronautics and Astronautics Inc, AIAA.
Keywords:	Computational geometry; Information systems; Information use; Multi agent systems; System stability; Viruses, Control laws; Equilibrium distributions; Formation control; Gradient based; Initial conditions; Multi agent; Pollen grains; Potential function, Aviation
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	22 Aug 2022 05:00
Last Modified:	22 Aug 2022 05:00
URI:	https://eprints.iisc.ac.in/id/eprint/76099

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