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Fixed-time leader-following flocking for nonlinear second-order multi-agent systems

Zhenghua Xu, Hongliang Liu, Yong Liu
2020 IEEE Access  
This work focuses on the fixed-time leader-following flocking for multi-agent systems.  ...  INDEX TERMS Fixed-time flocking, multi-agent system, discontinuous. I.  ...  ACKNOWLEDGMENT The authors would like to thank the referee so much for the valuable suggestions and comments.  ... 
doi:10.1109/access.2020.2992515 fatcat:eqblcszrzfhw7mnbn5xrowbfxq

Research on Motion Planning Based on Flocking Control and Reinforcement Learning for Multi-Robot Systems

Minghui Wang, Bi Zeng, Qiujie Wang
2021 Machines  
To avoid the trap of potential fields faced during flocking control, the flocking control is optimized, and the strategy of wall-following behavior control is designed.  ...  As shown by the simulation experiments, the motion planning method presented in this paper can enhance the abilities of multi-robot systems to self-learn and self-adapt under a fully unknown environment  ...  Conflicts of Interest: The authors declare no conflict of interest. Machines 2021, 9, 77  ... 
doi:10.3390/machines9040077 fatcat:4do4geszanab7mzm33xmbr22ta

Fully distributed flocking with a moving leader for Lagrange networks with parametric uncertainties

Sheida Ghapani, Jie Mei, Wei Ren, Yongduan Song
2016 Automatica  
Here a group of followers move cohesively with the moving leader to maintain connectivity and avoid collisions for all time and also eventually achieve velocity matching.  ...  Note that all above references focus on linear multi-agent systems with single-or double-integrator dynamics.  ...  Remark 3.12 In [5] , the distributed flocking problem with a moving leader has been solved for multi-agent systems with single or double integrators.  ... 
doi:10.1016/j.automatica.2016.01.004 fatcat:4cfhjcilojhifjw4sdgkt254du

Recent developments in control and optimization of swarm systems: A brief survey

Bing Zhu, Lihua Xie, Duo Han
2016 2016 12th IEEE International Conference on Control and Automation (ICCA)  
In this survey, some recent developments on control and optimization for swarm systems (or multi-agent systems) are reviewed, including progress in consensus, formation, flocking, containment, optimization  ...  Swarm systems (or multi-agent systems) become increasingly beneficial in performing complex tasks.  ...  Formation control with obstacle avoidance and collision avoidance for multi-robot systems is proposed in [10] , where the artificial viscosity terms are applied to avoid collisions.  ... 
doi:10.1109/icca.2016.7505246 dblp:conf/icca/ZhuXH16 fatcat:t2fuy5lmfjg5zf7cattdzwoupm

A Survey on Aerial Swarm Robotics

Soon-Jo Chung, Aditya Avinash Paranjape, Philip Dames, Shaojie Shen, Vijay Kumar
2018 IEEE Transactions on robotics  
Aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional (3-D) space, and the dynamics of individual vehicles adds an extra layer of complexity.  ...  These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level  ...  ACKNOWLEDGMENT The authors very much appreciate Frank Park's guidance and encouragement. The authors thank Salar Rahili for his comments and Lily Kass for her editorial assistance.  ... 
doi:10.1109/tro.2018.2857475 fatcat:4blp42msbzakvmwlwyd3e57o2e

Fully Distributed Flocking with a Moving Leader for Lagrange Networks with Parametric Uncertainties [article]

Sheida Ghapani, Jie Mei, Wei Ren, Yongduan Song
2015 arXiv   pre-print
Here a group of followers move cohesively with the moving leader to maintain connectivity and avoid collisions for all time and also eventually achieve velocity matching.  ...  This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph.  ...  Here a group of followers move cohesively with the moving leader to maintain connectivity and avoid collisions for all time and also eventually achieve velocity matching.  ... 
arXiv:1507.04778v2 fatcat:hub6gj2k4va3vemctcgzeiki7a

Flocking control for multi-agent systems with stream-based obstacle avoidance

Qiang Wang, Jie Chen, Hao Fang, Qian Ma
2013 Transactions of the Institute of Measurement and Control  
The problems of flocking with both connectivity maintenance and obstacle avoidance for the network of dynamic agents are addressed.  ...  potential functions combined with stream functions, which could not only maintain the network connectivity of the dynamic multi-agent systems for all time but also make all the agents avoid obstacles  ...  The experiment of flocking control for multi-agent systems with connectivity Transactions of the Institute of Measurement and Control 0(0) maintenance and obstacle avoidance based on the stream function  ... 
doi:10.1177/0142331213503864 fatcat:b3jvypm6xfhatktcdn5yoef4f4

High-frequency feedback robust control for flocking of multi-agent system with unknown parameters

Qing Zhang, Jie Wang, Zhengquan Yang, Zengqiang Chen
2019 Automatika  
In this paper, a kind of high-frequency feedback robust control for flocking of a multi-agent system with unknown parameters is put forward in detail.  ...  Firstly, a high-frequency feedback robust control scheme is proposed for the flocking problem of a multi-agent system with unknown parameters.  ...  [3] conducted a relevant study on the distributed leader-follower flocking control for multi-agent dynamical systems with timevarying velocities.  ... 
doi:10.1080/00051144.2019.1570630 fatcat:isetbyrxu5f6bosvgsbi5f7prm

Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey

Aakash Soni, Huosheng Hu
2018 Robotics  
At present, most of the developments target standalone autonomous vehicles, which can sense the surroundings and control the vehicle based on this perception, with limited or no driver intervention.  ...  To gain a deeper understanding in this area, a large number of the existing published papers have been reviewed systemically.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/robotics7040067 fatcat:wo7eomrs75dmleum5o6tvltgmu

A Connectivity-preserving flocking algorithm for multi-agent dynamical systems with bounded potential function

G. Wen, Z. Duan, H. Su, G. Chen, W. Yu
2012 IET Control Theory & Applications  
Furthermore, the flocking algorithm is extended to solve the flocking problem of multi-agent systems with a dynamical virtual leader by adding a navigation feedback term.  ...  of multi-agent systems with secondorder non-linear dynamics is investigated in this study.  ...  Thus, the flocking in multi-agent system (1) can be achieved with time-varying velocities. 1 N N i=1 f (p i ) with initial conditionp(0) = 1 N N i=1 f (p i Leader-flocking in multi-agent systems with  ... 
doi:10.1049/iet-cta.2011.0532 fatcat:vkjirjmusnhkvn5tq66ssogkq4

Bird Flocking Inspired Control Strategy for Multi-UAV Collective Motion [article]

Xiyuan Liu, Li Qiu
2019 arXiv   pre-print
In order to appropriately adjust the inter-agent distance suitable for realization, the control law based on bird flocking theory was optimized, and the convergence of velocities and collision avoidance  ...  Inspired by bird flocking theory, a control strategy for UAV collective motion with distributed measure and control methods was proposed in this study.  ...  -agent distances of leader-follower flocking.  ... 
arXiv:1912.00168v1 fatcat:2pddgwickjeafgztmvixymjivq

Mathematical modeling for flocking flight of autonomous multi-UAV system, including environmental factors

2020 KSII Transactions on Internet and Information Systems  
For this flocking flight, we do not possess control for central data processing or control over each UAV, as each UAV runs its collision avoidance algorithm by itself.  ...  We demonstrate the stability of the control algorithm and its applicability in autonomous multi-drone systems using numerical simulations.  ...  the collision avoidance and stability of the system.  ... 
doi:10.3837/tiis.2020.02.007 fatcat:pkwvafv5nzahzi3dkppwsv47jy

A Novel Controller of Multi-Agent System Navigation and Obstacle Avoidance

Anuj Agrawal, Aniket Gupta, Joyraj Bhowmick, Anurag Singh, Raghava Nallanthighal
2020 Procedia Computer Science  
Here an extended decentralized consensus-based control of multi-agent system is proposed.  ...  Here an extended decentralized consensus-based control of multi-agent system is proposed.  ...  We acknowledge the help of members of UAS-DTU for their assistance and contribution in system integration and test flights.  ... 
doi:10.1016/j.procs.2020.04.131 fatcat:f2hiqj7sejdltd2jml6muopft4

Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects

HaiBin Duan, SenQi Liu
2010 Science China Technological Sciences  
advancement of future robot systems. unmanned air vehicle (UAV), unmanned ground vehicle (UGV), heterogeneous cooperation Citation: Duan H B, Liu S Q.  ...  Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles, and enhance the effectiveness of implementing detection, search and rescue tasks.  ...  [13] proposed a set of nonsmooth control laws that enabled a group of vehicles to synchronize their velocity vectors and move as a flock while avoiding collisions with each other and with static obstacles  ... 
doi:10.1007/s11431-010-0122-4 fatcat:dlpzfrtgd5cajdezvzzqmzdzlq

Impulsive Flocking of Dynamical Multiagent Systems with External Disturbances

Fujun Han, Yize Yang, Hong-Yong Yang
2017 Mathematical Problems in Engineering  
Moreover, a sufficient condition is obtained to ensure the flocking motion of multiagent systems following a leader. Finally, simulation results show the validity of the theoretical conclusion.  ...  Based on the robust features of impulsive control, a distributed impulsive control protocol is presented with disturbance observer, and flocking motion of multiagent systems is analyzed.  ...  Acknowledgments Project supported by the National Natural Science Foundation of China (Grants nos. 61273152, 61673200, and 61472172) and by the Natural Science Foundation of Shandong Province of China  ... 
doi:10.1155/2017/6856295 fatcat:d6kxjkrx2vgx3nr24fmhluk63a
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