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1.
We consider the problem of controlling a group of mobile agents to form a designated formation while flocking within a constrained environment. We first propose a potential field based method to drive the agents to move in connection with their neighbors, and regulate their relative positions to achieve the specific formation. The communication topology is preserved during the motion. We then extend the method to flocking with environmental constraints. Stability properties are analyzed to guarantee that all agents eventually form the desired formation while flocking, and flock safely without collision with the environment boundary. We verify our algorithm through simulations on a group of agents performing maximum coverage flocking and traveling through an unknown constrained environment.  相似文献   

2.
Flocking for swarm systems with fixed topology in a changing environment   总被引:1,自引:1,他引:0  
This paper is mainly devoted to the flocking of a class of swarm with fixed topology in a changing environment. Firstly, the controller for each agent is proposed by employing the error terms between the state of the agent and the average state of its neighbors. Secondly, a sufficient condition for the swarm to achieve flocking is presented under assumptions that the gradient of the environment is bounded and the initial position graph is connected. Thirdly, as the environment is a plane, it is further proved that the velocity of each agent finally converges to the velocity of the swarm center although not one agent knows where the center of the group is. Finally, numerical examples are included to illustrate the obtained results.  相似文献   

3.
The multiple determination tasks of chemical properties are a classical problem in analytical chemistry. The major problem is concerned in to find the best subset of variables that better represents the compounds. These variables are obtained by a spectrophotometer device. This device measures hundreds of correlated variables related with physicocbemical properties and that can be used to estimate the component of interest. The problem is the selection of a subset of informative and uncorrelated variables that help the minimization of prediction error. Classical algorithms select a subset of variables for each compound considered. In this work we propose the use of the SPEA-II (strength Pareto evolutionary algorithm II). We would like to show that the variable selection algorithm can selected just one subset used for multiple determinations using multiple linear regressions. For the case study is used wheat data obtained by NIR (near-infrared spectroscopy) spectrometry where the objective is the determination of a variable subgroup with information about E protein content (%), test weight (Kg/HI), WKT (wheat kernel texture) (%) and farinograph water absorption (%). The results of traditional techniques of multivariate calibration as the SPA (successive projections algorithm), PLS (partial least square) and mono-objective genetic algorithm are presents for comparisons. For NIR spectral analysis of protein concentration on wheat, the number of variables selected from 775 spectral variables was reduced for just 10 in the SPEA-II algorithm. The prediction error decreased from 0.2 in the classical methods to 0.09 in proposed approach, a reduction of 37%. The model using variables selected by SPEA-II had better prediction performance than classical algorithms and full-spectrum partial least-squares.  相似文献   

4.
This paper investigates consensus of flocks consisting of $n$ autonomous agents in the plane, where each agent has the same constant moving speed $v_n$ and updates its heading by the average value of the $k_n$ nearest agents from it, with $v_n$ and $k_n$ being two prescribed parameters depending on $n$. Such a topological interaction rule is referred to as $k_n$-nearest-neighbors rule, which has been validated for a class of birds by biologists and verified to be robust with respect to disturbances. A theoretical analysis will be presented for this flocking model under a random framework with large population, but without imposing any {\it a priori} connectivity assumptions. We will show that the minimum number of $k_n$ needed for consensus is of the order ${\rm O}(\log n)$ in a certain sense. To be precise, there exist two constants $C_1>C_2>0$ such that, if $k_n > C_1\log n$, then the flocking model will achieve consensus for any initial headings with high probability, provided that the speed $v_n$ is suitably small. On the other hand, if $k_n 相似文献   

5.
In this paper, the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain. The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function. A time-varying gain, which increases monotonously and tends to infinity, is proposed to construct a compensator for each follower agent. Based on a directed communication topology, the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors. It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol. The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.  相似文献   

6.
Current applications using single unmanned vehicle have been gradually extended to multiple ones due to their increased efficiency in mission accomplishment, expanded coverage areas and ranges, as well as enhanced system reliability. This paper presents a flocking control method with application to a fleet of unmanned quadrotor helicopters (UQHs). Three critical characteristics of formation keeping, collision avoidance, and velocity matching have been taken into account in the algorithm development to make it capable of accomplishing the desired objectives (like forest/pipeline surveillance) by safely and efficiently operating a group of UQHs. To achieve these, three layered system design philosophy is considered in this study. The first layer is the flocking controller which is designed based on the kinematics of UQH. The modified Cucker and Smale model is used for guaranteeing the convergence of UQHs to flocking, while a repelling force between each two UQHs is also added for ensuring a specified safety distance. The second layer is the motion controller which is devised based on the kinetics of UQH by employing the augmented state-feedback control approach to greatly minimize the steady-state error. The last layer is the UQH system along with its actuators. Two primary contributions have been made in this work: first, different from most of the existing works conducted on agents with double integrator dynamics, a new flocking control algorithm has been designed and implemented on a group of UQHs with nonlinear dynamics. Furthermore, the constraint of fixed neighbouring distance in formation has been relaxed expecting to significantly reduce the complexity caused by the increase of agents number and provide more flexibility to the formation control. Extensive numerical simulations on a group of UQH nonlinear models have been carried out to verify the effectiveness of the proposed method.  相似文献   

7.
对称工件定位算法:收敛性及其改进   总被引:1,自引:0,他引:1  
Symmetric workpiece localization algorithms combine alternating optimization and linearization. The iterative variables are partitioned into two groups. Then simple optimization approaches can be employed for each subset of variables, where optimization of configuration variables is simplified as a linear least-squares problem (LSP). Convergence of current symmetric localization algorithms is discussed firstly. It is shown that simply taking the solution of the LSP as start of the next iteration may result in divergence or incorrect convergence. Therefore in our enhanced algorithms, line search is performed along the solution of the LSP in order to find a better point reducing the value of objective function. We choose this point as start of the next iteration. Better convergence is verified by numerical simulation. Besides, imposing boundary constraints on the LSP proves to be another efficient way.  相似文献   

8.
Rationality is a fundamental concept in economics. Most researchers will accept that human beings are not fully rational. Herbert Simon suggested that we are "bounded rational". However, it is very difficult to quantify "bounded rationality", and therefore it is difficult to pinpoint its impact to all those economic theories that depend on the assumption of full rationality. Ariel Rubinstein proposed to model bounded rationality by explicitly specifying the decision makers' decision-making procedures. This paper takes a computational point of view to Rubinstein's approach. From a computational point of view, decision procedures can be encoded in algorithms and heuristics. We argue that, everything else being equal, the effective rationality of an agent is determined by its computational power - we refer to this as the computational intelligence determines effective rationality (CIDER) theory. This is not an attempt to propose a unifying definition of bounded rationality. It is merely a proposal of a computational point of view of bounded rationality. This way of interpreting bounded rationality enables us to (computationally) reason about economic systems when the full rationality assumption is relaxed.  相似文献   

9.
Mobile agents are able to migrate among machines to achieve their tasks. This feature is attractive to design, implement, and maintain distributed systems because we can implement both client-side and server-side programming in one mobile agent. However, it involves the increase of data traffic for mobile agent migrations. In this paper, we propose program code caching to reduce the data traffic caused by mobile agent migrations. A mobile agent consists of many program codes that define a task executed in each machine they migrate; thus, the mobile agent migration involves the transfer of their program codes. Therefore, our method reduces the number of the transfer of program codes by using program code cache. We have implemented our method on a mobile agent framework called Maglog and conducted experiments on a meeting scheduling system.  相似文献   

10.
Global behavior of dynamical agents in directed network   总被引:1,自引:0,他引:1  
This paper investigates the global behavior of controlled dynamical agents in directed networks. The agents are Lyapunov stable, are distributed in a line, and communicate through a directed network. The communication topology of the network is characterized by a directed graph and the control protocol is designed in simple linear decentralized feedback law. We study the different conditions under which agents will achieve aggregation, and critical and divergent trajectories, respectively. Our investigation on the dynamical agent system under network is extended to the time-delay network case. Furthermore, we study the case with two pre-specified virtual leaders in the system. Numerical simulations are given and demonstrate that our theoretical results are effective.  相似文献   

11.
In this paper, the problem of flocking control in networks of multiple dynamical agents with intermittent nonlinear velocity measurements is studied. A new flocking algorithm is proposed to guarantee the states of the velocity variables of all the dynamical agents to converge to consensus while ensuring collision avoidance of the whole group, where each agent is assumed to obtain some nonlinear measurements of the relative velocity between itself and its neighbors only on a sequence of non‐overlapping time intervals. The results are then extended to the scenario of flocking with a nonlinearly dynamical virtual leader, where only a small fraction of agents are informed and each informed agent can obtain intermittent nonlinear measurements of the relative velocity between itself and the virtual leader. Theoretical analysis shows that the achieved flocking in systems with or without a virtual leader is robust against the time spans of the agent speed‐sensors. Finally, some numerical simulations are provided to illustrate the effectiveness of the new design. Copyright © 2011 John Wiley & Sons, Ltd.  相似文献   

12.
Most existing flocking algorithms rely on information about both relative position and relative velocity among neighbouring agents. In this article, we investigate the flocking problem with only position measurements. We propose a provably-stable flocking algorithm, in which an output vector is produced by distributed filters based on position information alone but not velocity information. Under the assumption that the initial interactive network is connected, the flocking algorithm not only can steer a group of agents to a stable flocking motion, but also can preserve the connectivity of the interactive network during the dynamical evolution. Moreover, we investigate the flocking algorithm with a virtual leader and show that all agents can asymptotically attain a desired velocity even if only one agent in the team has access to the information of the virtual leader. We finally show some numerical simulations to illustrate the theoretical results.  相似文献   

13.
This paper considers the problem of flocking with connectivity preservation for a class of disturbed nonlinear multi-agent systems. In order to deal with the nonlinearities in the dynamic of all agents, some auxiliary variables are introduced into the state observer for stability analysis. By proposing a bounded potential function and using adaptive theory, a novel output feedback consensus algorithm is developed to guarantee that the states of all agents achieve flocking with connectivity preservation.  相似文献   

14.

This paper investigates the flocking control of multi-agent systems with unknown nonlinear dynamics while the virtual leader information is heterogeneous. The uncertain nonlinearity in the virtual leader information is considered, and the weaker constraint on the velocity information measurements is assumed. In addition, a bounded assumption on the unknown nonlinear dynamics is also considered. It is weaker than the Lipschitz condition adopted in the most flocking control methods. To avoid fragmentation, we construct a new potential function based on the penalty idea when the initial network is disconnected. A dynamical control law including a adjust parameter is designed to achieve the stable flocking. It is proven that the velocities of all agents approach to consensus and no collision happens between the mobile agents. Finally, several simulations verify the effectiveness of the new design, and indicate that the proposed method has high convergence and the broader applicability in practical applications with more stringent restrictions.

  相似文献   

15.
陈世明  化俞新  祝振敏  赖强 《自动化学报》2015,41(12):2092-2099
针对多智能体系统在动态演化过程中容易出现的"局部聚集"现象,融 合复杂网络中的拓扑结构优化理论与多智能体系统协调蜂拥控制研究,提出了一种基 于邻域交互结构优化的多智能体快速蜂拥控制算法.该算法首先从宏观上分析多智 能体的局部聚集现象,利用社团划分算法将局部相对密集的多个智能体聚类成一个 社团,整个多智能体系统可以划分成多个相对稀疏的社团,并为每个社团选择度 最大的个体作为信息智能体,该个体可以获知虚拟领导者信息;随后从多智能体 系统中不同社团相邻个体间的局部交互结构入手,取消社团间相邻个体的交 互作用,设计仅依赖于社团内部邻居个体交互作用的蜂拥控制律;理论分 析表明,只要每个社团存在一个信息智能体,在虚拟领导者的引导作用下,整个多 智能体系统就可以实现收敛的蜂拥控制行为;仿真实验也证实了对多智 能体系统进行邻域交互结构优化可以有效提高整个系统的收敛速度.  相似文献   

16.
Flocking of Multi-Agents With a Virtual Leader   总被引:4,自引:0,他引:4  
All agents being informed and the virtual leader traveling at a constant velocity are the two critical assumptions seen in the recent literature on flocking in multi-agent systems. Under these assumptions, Olfati-Saber in a recent IEEE Transactions on Automatic Control paper proposed a flocking algorithm which by incorporating a navigational feedback enables a group of agents to track a virtual leader. This paper revisits the problem of multi-agent flocking in the absence of the above two assumptions. We first show that, even when only a fraction of agents are informed, the Olfati-Saber flocking algorithm still enables all the informed agents to move with the desired constant velocity, and an uninformed agent to also move with the same desired velocity if it can be influenced by the informed agents from time to time during the evolution. Numerical simulation demonstrates that a very small group of the informed agents can cause most of the agents to move with the desired velocity and the larger the informed group is the bigger portion of agents will move with the desired velocity. In the situation where the virtual leader travels with a varying velocity, we propose modification to the Olfati-Saber algorithm and show that the resulting algorithm enables the asymptotic tracking of the virtual leader. That is, the position and velocity of the center of mass of all agents will converge exponentially to those of the virtual leader. The convergent rate is also given.   相似文献   

17.
In this paper, the local flocking of multi-agent systems is investigated, which means all agents form some groups of surrounding multiple targets with the partial information exchange. For the purpose of realising local multi-flocking, a control algorithm of local flocking is proposed, which is a biologically inspired approach that assimilates key characteristics of flocking and anti-flocking. In the process of surrounding mobile targets through the control algorithm, all agents can adaptively choose between two work modes to depend on the variation of visual field and the number of pursuing agents with the mobile target. One is a flocking pursuing mode which is that some agents pursue each mobile target, the other is an anti-flocking searching mode that means with the exception of the pursing agents of mobile targets, other agents respectively hunt for optimal the mobile target with a closest principle between the agent and the target. In two work modes, the agents are controlled severally via the different control protocol. By the Lyapunov theorem, the stability of the second-order multi-agent system is proven in detail. Finally, simulation results verify the effectiveness of the proposed algorithm.  相似文献   

18.
In this paper coordination of a group of agents by a coordinator agent, called the leader‐agent (LA), is discussed. Agents have identical finite sensing radii and access only the local information. Inter‐agent interactions bring them together as a multi‐agent network system. In a recently proposed flocking algorithm using a virtual leader, it is proved that if a fraction of agents are informed then the center of mass of the multi‐agent system tracks the virtual leader. The minimum number of the fraction is always greater than one. In this paper the only informed agent is the LA. Interaction functions are defined to make the model of the multi‐agent system suitable for the design of the coordination control algorithm. The leader‐agent accesses its local data and actively plans its motions through a nonlinear control method. It is proven in this paper that the multi‐agent system tracks the virtual leader and a locally defined point near the LA converges to the position of the virtual leader. It is also shown that in this case, center of mass of the multi‐agent system follows the virtual leader but with a finite distance. We have also discussed positive effects of the LA on network connectivity. Finally illustrative examples are added as well. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society  相似文献   

19.
This paper investigates the flocking problem of networked nonlinear Euler–Lagrange systems with parametric uncertainties, and they are assumed to interact on directed graphs with a directed spanning tree. We propose an adaptive controller to achieve the flocking objective, and the resultant closed-loop networked system bears the cascade structure. Using a new similarity decomposition approach, a critical-characteristic-root based approach, and the input–output stability analysis, we demonstrate the convergence of the position/velocity synchronization errors among the uncertain nonlinear Euler–Lagrange agents. We also show that the velocities of the Euler–Lagrange systems converge to the weighted average velocity value. Simulation results are provided to demonstrate the performance of the proposed controller.  相似文献   

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