Formations of multi-agent systems, such as mobile robots, satellites and aircraft, require individual agents to satisfy their kinematic equations while constantly maintaining interagent constraints. In this paper, we develop a systematic framework for studying formation motion feasibility of multi-agent systems. In particular, we consider formations wherein all the agents cooperate to enforce the formation. We determine algebraic conditions that guarantee formation feasibility given the individual agent kinematics. Our framework also enables us to obtain lower dimensional control systems describing the group kinematics while maintaining all formation constraints.

The present paper suggests a procedure to enhance the operation of the heating, ventilation and air conditioning system, following the idea that a multi-objective optimal supervisory control for such a system should consider the cost of energy, activ

This paper describes an approach to the modeling and control of multiagent populations composed of a large number of agents. The complexity of population modeling is avoided by assuming a stochastic approach, under which the agent distribution over the state space is modeled. The dynamics of the state probability density functions is determined, and a control problem of maximizing the probability of robotic presence in a given region is introduced. The Minimum Principle for the optimal control of partial differential equations is exploited to solve this problem, and it is applied to the mission control of a simulated large robotic population

Formations of multi-agent systems, such as satellites and aircraft, require that individual agents satisfy their kinematic equations while constantly maintaining inter-agent constraints. In this paper, we develop a systematic framework for studying formations of multiagent systems. In particular, we consider undirected formations for centralized formations and directed formations for decentralized formations. In each case, we determine differential geometric conditions that guarantee formation feasibility given the individual agent kinematics. Our framework also enables us to extract a smaller control system that describes the formation kinematics while maintaining,all formation constraints.