Multi‐target localization and circumnavigation by a single agent using bearing measurements

This paper considers the problem of localization and circumnavigation of a group of targets, which are either stationary or moving slowly with unknown speed, by a single agent. An estimator is proposed, initially for the stationary target case, to localize the targets and the center of mass of them as well as a control law that forces the agent to move on a circular trajectory around the center of mass of the targets such that both the estimator and the controller are exponentially stable. Then the case where the targets might experience slow but possibly steady movements is studied. The system inputs include the agent's position and the bearing angles to the targets. The performance of the proposed algorithms is verified through simulations. Copyright © 2014 John Wiley & Sons, Ltd.     

Formations on directed cycles with bearing‐only measurements

This paper studies a bearing‐only–based formation control problem for a group of single‐integrator agents with directed cycle sensing topology. In a 2‐dimensional space, a necessary and sufficient condition for the set of desired bearing vectors to be feasible is derived. Then, we propose a bearing‐only control law for every agent and prove that the formation asymptotically converges to a formation specified by a set of feasible desired bearing vectors. Analysis of the equilibrium formations in the plane for a 3‐agent system and subsequent extension to an n‐agent system is provided. We further extend the analysis on directed triangular formation into a 3‐dimensional space. Finally, simulations validate the theoretical results.     

Multi-target localisation and circumnavigation by a multi-agent system with bearing measurements in 2D space

This paper investigates the problem of multi-target localisation and circumnavigation by a multi-agent system in two-dimensional space, where each target's bearing measurement can be obtained by at least one agent. Both stationary and slowly-moving targets are considered. An estimator is designed to estimate the target position; then a distributed estimation algorithm is designed for each agent to cooperatively estimate the centroid of multi-target; and finally, based on the first two steps, a circumnavigation controller is devised to guarantee that each agent circumnavigates all targets around the multi-target centroid with a desired radius. The convergence of the estimation algorithm and the stability of the circumnavigation controller are proved. A numerical simulation is provided to verify the correctness of the conclusion and the effectiveness of the proposed algorithm.     

Multi‐agent rotating consensus without relative velocity measurements in three‐dimensional space

In this paper, we study distributed rotating consensus in networks of second‐order agents using only local position information in three‐dimensional space. We propose a protocol to make the multi‐agent system finally move together around a common point and present corresponding conditions for rotating consensus of the system. Finally, a numerical example is provided to demonstrate the effectiveness of the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

Scheduling multi‐component applications with mobile agents in heterogeneous distributed systems

In grid computing environment, several classes of multi‐component applications exist. These types of applications may often require additional resources of different types that go beyond what is available in any of the sites making up the grid resource composition. The heterogeneity nature of both the user application and the computing environment makes this a challenging problem. However, the current off‐the‐shelf scheduling software can hardly cope with these diversities in distributed computing application frameworks. Therefore, there is the need for an adequate scheduling system that would grant simultaneous or coordinated access to application of multi‐component nature that requires resources of possibly multiple types, in multiple locations, managed by different resource providers. The main focus of this paper is to develop a mobile agent scheduling model that addresses the aforementioned challenge. A scheduling policy that pertains to job scheduling and resource allocation is proposed. The scheduling policy treats different multi‐component applications requiring diverse heterogeneous resources fairly. The policy is used by mobile agents to schedule user applications and to also find available and suitable distributed resource that are capable of executing user application at a very minimal time. Copyright © 2015 John Wiley & Sons, Ltd.     

Semantic link‐based constructing of multi‐dimensional service resource space for collaboration

Automatic service collaboration calls for the development of semantically structured service resource space to maximize the utility of Web services. Semantic links contain rich semantic information that may indicate important relationships among services. We provided an effective method for constructing multi‐dimensional service resource space based on semantic links for service collaboration, in which similar and related semantic relationship between services are considered. We first clustered services with similar and related relations on the basis of a hierarchical structure respectively and then took advantage of the resource space model to construct multi‐dimensional service resource space. Finally, experimental results show the effectiveness of the method. Concurrency and Computation: Practice and Experience, 2012.© 2012 Wiley Periodicals, Inc.     

Consensus strategy for a class of multi‐agents with discrete second‐order dynamics

This paper investigates consensus strategies for a group of agents with discrete second‐order dynamics under directed communication topology. Consensus analysis for both the fixed topology and time‐varying topology cases is systematically performed by employing a novel graph theoretic methodology as well as the classical nonnegative matrix theory. Furthermore, it is shown that the necessary and sufficient condition for the agents under fixed communication topology to reach consensus is that the communication topology has a spanning tree; and sufficient conditions for the agents to reach consensus when allowing for the dynamically changing communication topologies are also given. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed results. Copyright © 2011 John Wiley & Sons, Ltd.     

Target tracking of autonomous robotic vehicles using range‐only measurements: a switched logic‐based control strategy

This paper considers the pursuing or target tracking problem where an autonomous robotic vehicle is required to move towards a maneuvering target using range‐only measurements. We propose a switched logic‐based control strategy to solve the pursuing problem that can be described as comprising a continuous cycle of two distinct phases: (1) the determination of the bearing, and (2) the steering control of the vehicle to follow the direction computed in the previous step while the range is decreasing. We provide guaranteed conditions under which the switched closed‐loop system achieves convergence of the relative distance error to a small neighborhood around zero. Simulation results are presented and discussed.Copyright © 2011 John Wiley & Sons, Ltd.     

Further results on finite‐time consensus of second‐order multi‐agent systems without velocity measurements

This paper investigates the problem of finite‐time consensus (FTC) for second‐order nonlinear multi‐agent systems when the velocity information is unavailable. Based on the global finite‐time stability theory and homogeneity with dilation, a class of novel finite‐time consensus protocols are proposed for the multi‐agent systems. The protocol design is divided into two parts. First, when all the state information of the agents are measurable, a new continuous state feedback is designed to achieve FTC. Then, when the velocity information is unmeasurable, two finite‐time convergent discontinuous observers are presented to estimate the velocities of the followers and the leader, respectively, which further ensure the final FTC for the multi‐agent systems. Finally, one example is given to demonstrate the efficiency of the proposed method. Copyright © 2015 John Wiley & Sons, Ltd.     

A compact multi‐band multi‐input multi‐output antenna for 4G/5G and IoT devices using theory of characteristic modes

A compact four element multi‐band multi‐input multi‐output (MIMO) antenna system for 4G/5G and IoT applications is presented in this paper. The proposed antenna is developed using the theory of characteristic modes helping in systematic design of MIMO antenna system. It consists of four L‐shaped planar inverted‐F antenna (PIFA) elements each operating at 3.5, 12.5, and 17 GHz bands with the bandwidth of 359 MHz, 1 GHz, and more than 3.7 GHz, respectively. The proposed antenna system is suitable for both 4G/5G and internet of things devices as it shows the satisfactory MIMO system performance. Good isolation characteristics are observed by implementing complimentary Metamaterial structure on the ground plane resulting in isolation level lower than ?21 dB between the antenna elements. The proposed antenna is fabricated and experimental results are also presented and discussed.     

A novel consensus algorithm for second‐order multi‐agent systems without velocity measurements

In this paper, a novel consensus protocol for second‐order multi‐agent systems is elegantly designed, and it relaxes the common requirement of the velocity information of the agents. An interesting consensus criterion is explicitly derived in terms of the proposed cooperation law provided that the dynamical equation for each agent is linear. As an extension, the proposed cooperation rule is further extended to a general scenario, where the coupling weights characterizing the relationships among the neighboring agents are time‐varying. Accordingly, two distributed cooperative algorithms (node/edge‐based scheme) are explicitly designed. Moreover, we study the case of network with switching communication setting. It shows that edge‐based law is capable with the time‐varying topology, while the node‐based scheme is not. In addition, the proposed coordination strategies are applied to the tracking problem as well. Finally, these obtained consensus results are well supported in the light of the pendulum models. Copyright © 2016 John Wiley & Sons, Ltd.     

Influence of 3‐D cross‐talk on qualified viewing spaces in two‐ and multi‐view autostereoscopic displays

Abstract— To estimate the qualified viewing spaces for two‐ and multi‐view autostereoscopic displays, the relationship between image quality (image comfort, annoying ghost image, depth perception) and various pairings between 3‐D cross‐talk in the left and right views are studied subjectively using a two‐view autostereoscopic display and test charts for the left and right views with ghost images due to artificial 3‐D cross‐talk. The artificial 3‐D cross‐talk was tuned to simulate the view in the intermediate zone of the viewing spaces. It was shown that the stereoscopic images on a two‐view autostereoscopic display cause discomfort when they are observed by the eye in the intermediate zone between the viewing spaces. This is because the ghost image due to large 3‐D cross‐talk in the intermediate zone elicits different depth perception from the depth induced by the original images for the left and right views, so the observer's depth perception is confused. Image comfort is also shown to be better for multi‐views, especially the width of the viewing space, which is narrower than the interpupillary distance, where the parallax of the cross‐talking image is small.     

Flocking of multi‐agent dynamical systems with intermittent nonlinear velocity measurements

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.     

Single‐layered multi‐color electrowetting display by using ink‐jet‐printing technology and fluid‐motion prediction with simulation

Abstract— This paper describes a single‐layered multi‐color electrowetting display (EWD) by using ink‐jet‐printing (IJP) technology and comparing different pattern electrodes with the use of the numerical investigations of ANSYS FLUENT®. This work consists of two parts: the first describes the design of implementing a single‐layered multi‐color EWD and the second demonstrates the application of ANSYS FLUENT® simulation in different pattern electrodes settings on the proposed EWD. The single‐layered multi‐color EW device was evaluated by using various colored oils without adopting a color filter. The single‐layered multi‐color EWD at a driving voltage of 25 V can achieve a maximum aperture ratio and reflectivity of 80% and 38.5%, respectively. The colored saturation of R, G, B oils can increase to 50% (NTSC: 13.3–27.8%). In addition, a radiate electrode at the required viewable area condition of 85% and force 5 * F^k, which results in ink stable contraction and a shorter response time of 50% (radiate vs. square), was proposed. The experimental results and simulation demonstrate that ink‐jet‐printing (IJP) technology along with the use of radiate electrodes can result in a single‐layered multi‐color EWD with a shorter response time.     

Distributed stereo vision‐based 6D localization and mapping for multi‐robot teams

Joint simultaneous localization and mapping (SLAM) constitutes the basis for cooperative action in multi‐robot teams. We designed a stereo vision‐based 6D SLAM system combining local and global methods to benefit from their particular advantages: (1) Decoupled local reference filters on each robot for real‐time, long‐term stable state estimation required for stabilization, control and fast obstacle avoidance; (2) Online graph optimization with a novel graph topology and intra‐ as well as inter‐robot loop closures through an improved submap matching method to provide global multi‐robot pose and map estimates; (3) Distribution of the processing of high‐frequency and high‐bandwidth measurements enabling the exchange of aggregated and thus compacted map data. As a result, we gain robustness with respect to communication losses between robots. We evaluated our improved map matcher on simulated and real‐world datasets and present our full system in five real‐world multi‐robot experiments in areas of up 3,000 m² (bounding box), including visual robot detections and submap matches as loop‐closure constraints. Further, we demonstrate its application to autonomous multi‐robot exploration in a challenging rough‐terrain environment at a Moon‐analogue site located on a volcano.     

Consensus in multi‐agent systems with communication constraints

The problem of second‐order consensus is investigated in this paper for a class of multi‐agent systems with a fixed directed topology and communication constraints where each agent is assumed to share information only with its neighbors on some disconnected time intervals. A novel consensus protocol designed based on synchronous intermittent local information feedback is proposed to coordinate the states of agents to converge to second‐order consensus under a fixed strongly connected topology, which is then extended to the case where the communication topology contains a directed spanning tree. By using tools from algebraic graph theory and Lyapunov control approach, it is proved that second‐order consensus can be reached if the general algebraic connectivity of the communication topology is larger than a threshold value and the mobile agents communicate with their neighbors frequently enough as the network evolves. Finally, a numerical example is simulated to verify the theoretical analysis. Copyright © 2011 John Wiley & Sons, Ltd.     

Distributed consensus and tracking control of second‐order time‐varying nonlinear multi‐agent systems

In this paper, the distributed consensus and tracking protocols are developed for the second‐order time‐varying nonlinear multi‐agent systems under general directed graph. Firstly, the consensus and tracking problems can be converted into a conventional stabilization control problem. Then a state transformation is employed to deal with the time‐varying nonlinearities. By choosing an appropriate time‐varying parameter and coupling strengths, exponential consensus and tracking of second‐order nonlinear multi‐agent systems can be achieved. Finally, a simulation is given to illustrate the effectiveness of the proposed consensus and tracking protocols. Copyright © 2017 John Wiley & Sons, Ltd.     

Multi‐primary image projector using programmable spectral light source

This paper presents a practical prototype of a multi‐primary image projector system in which light source spectra can be programmable for suiting any purpose. Our multi‐primary projection system is mainly configured with a light source component and an image projection component. The programmable light source can reproduce any spectral curve. Spatial images are then generated using a digital mirror device chip that quickly controls the intensity of the light source spectra in 2D image plane. The multi‐primary images in our projection system are reproduced by multiplexing the time‐sequential images with different primary colors. Our multi‐primary image projector realizes not only wide gamut projection but also spectral projection. To achieve this, we also show how light source spectra of four or six primary colors are designed.     

Multi‐dimensional asymptotic waveform evaluation method and adaptive hopping technique

The multi‐dimensional asymptotic waveform evaluation (MD‐AWE) method is proposed as an extension of the conventional one dimensional asymptotic waveform evaluation (1D‐AWE) method. It can be applied in parameter analysis of structures, particularly with multiple variables, at which repeated calculations are required. The MD‐AWE is proposed at first, and then an adaptive hopping technique similar to the complex frequency hopping (CFH) technique to expand the approximation region of MD‐AWE is delivered, and this technique also helps to reduce the memory usage by taking lower order of MD‐AWE. In the end, two examples are given with good results, which show the efficiency and accuracy of the proposed method. © 2008 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2008.     

Closing ranks in rigid multi‐agent formations using edge contraction

This paper proposes a systematic approach to solve the closing rank problem for a rigid multi‐agent formation, viz. restoring rigidity after loss of an agent. The approach is based on a particular graph operation, the edge contraction operation. It is proven that when an agent is lost in an arbitrary two‐dimensional rigid formation, rigidity can always be restored by transferring all links to which this agent was incident on to one of its neighbors, though not in general any arbitrary one of them. From a graph theoretical point of view, this corresponds to contraction of a certain edge incident to the vertex representing the agent being lost. It is established, for any two‐dimensional rigid formation (graph), that there exists at least two such edges that can be contracted to solve the closing ranks problem. Later, it is demonstrated that any potential decentralized algorithm to check if an arbitrary edge is contractible would need to use information on vertices and edges that can be at arbitrarily large distance from the edge considered; and a set of rigid graph theoretical results are established for several general settings, which can be used in selection of the edge to contract in these settings in order to solve the corresponding closing ranks problems. Partial results are also obtained for three‐dimensional formations, and it is shown that the two‐dimensional results do not generalize as such to higher dimension. Copyright © 2010 John Wiley & Sons, Ltd.