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Optimal iterative learning control design for multi-agent systems consensus tracking

Shiping Yang, Jian-Xin Xu, Deqing Huang, Ying Tan
2014 Systems & control letters (Print)  
In the end, an illustrative example of a group of heterogeneous agents is provided to demonstrate the effectiveness of the proposed design methods.  ...  By using the concept of the graph dependent matrix norm, the convergence conditions can be specified at the agent level, which depend on a set of eigenvalues that are associated with the communication  ...  Then, an illustrative example for heterogeneous agents under fixed directed graph is given in Section 5 to demonstrate the efficacy of the proposed algorithms.  ... 
doi:10.1016/j.sysconle.2014.04.009 fatcat:ljax2ghr2bbonowabev643dhvi

Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

Jing Yan, Xin-Ping Guan, Xiao-Yuan Luo
2011 Chinese Physics B  
Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems.  ...  This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph.  ...  Conclusion We investigated the pursuit problem of heterogeneous multi-agent systems on a directed acyclic graph.  ... 
doi:10.1088/1674-1056/20/4/048901 fatcat:neyb752cfncodncgaek3pffs64

Distributed Adaptive Affine Formation Control for Heterogeneous Linear Networked Systems

Yang Xu, Delin Luo, Yancheng You, Haibin Duan
2019 IEEE Access  
INDEX TERMS Affine formation control, heterogeneous multi-agent systems, directed graph, adaptive algorithms.  ...  This paper addresses the distributed adaptive affine formation protocol design problem for the heterogeneous leader-follower-type linear networked systems, in which the interaction graph is directed.  ...  Shiyu Zhao at the University of Sheffield and Prof. Ben M. Chen at the National University of Singapore for the inspiration and discussion of the idea presented in this paper.  ... 
doi:10.1109/access.2019.2898974 fatcat:7sierbjyg5acleuemththyzkti

Automatic formation deployment of decentralized heterogeneous multi-robot networks with limited sensing capabilities

Brian Stephen Smith, Jiuguang Wang, Magnus Egerstedt, Ayanna Howard
2009 2009 IEEE International Conference on Robotics and Automation  
Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations.  ...  We develop a method for automatically configuring the heterogeneous network to deploy a desired formation at a desired location.  ...  Thus, l(v i ) indicates the control laws of agent i. The edges in this graph represents constraints between robots. Each edge is an ordered pair, where the order defines the direction of the edge.  ... 
doi:10.1109/robot.2009.5152517 dblp:conf/icra/SmithWEH09 fatcat:zrwmpimuancrbfpkcdh724egxy

Feasible formations of multi-agent systems

P. Tabuada, G.J. Pappas, P. Lima
2001 Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148)  
Formations of multi-agent systems, such as satellites and aircraft, require that individual agents satisfy their kinematic equations while constantly maintaining inter-agent constraints.  ...  Abstract Formations of multi-agent systems, such as satellites and aircraft, require that individual agents satisfy their kinematic equations while constantly maintaining inter-agent constraints.  ...  The control of multiple homogeneous or heterogeneous agents raises fundamental questions regarding the formation control of a group of agents.  ... 
doi:10.1109/acc.2001.945513 fatcat:vxq6g4s24bbwlhfcu43g4b5osi

Multi-Agent Distributed Coordination Control: Developments and Directions [article]

Xiangke Wang, Xun Li, Yirui Cong, Zhiwen Zeng, Zhiqiang Zheng
2015 arXiv   pre-print
In terms of the formation control problem, after reviewing the results of the algebraic graph theory employed in the formation control, we mainly pay attention to the developments of the rigid and persistent  ...  present an integrated view of the graph theory used in the coordination control problem.  ...  So, the coordination control for heterogeneous MASs is also a direction worth to pay attentions to in the future.  ... 
arXiv:1505.02595v1 fatcat:ptrpocshbrduncfbi6ud7hgeau

Synchronization of Multi-Agent Systems With Heterogeneous Controllers [article]

Anoop Jain, Debasish Ghose
2016 arXiv   pre-print
We generalize existing results and show that by using heterogeneous controller gains, the final velocity direction at which the system of agents synchronize can be controlled.  ...  This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains.  ...  The control over the average linear momentum of the group of agents is a mean to achieve synchronized formation.  ... 
arXiv:1512.07362v4 fatcat:yctrolz3pfbwnnia3o7wuvbe4e

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  ...  In recent years, several branches of control and optimization for swarm systems have been developed based on different purposes and scenarios.  ...  A spanning tree of a directed graph is a directed tree formed by graph edges which connect all the nodes in G . A graph contains a spanning tree, if a subset of the edges forms a spanning tree.  ... 
doi:10.1109/icca.2016.7505246 dblp:conf/icca/ZhuXH16 fatcat:t2fuy5lmfjg5zf7cattdzwoupm

Bipartite Consensus Control of Multiagent Systems on Coopetition Networks

Jiangping Hu
2014 Abstract and Applied Analysis  
The coopetition network is represented by a directed signed graph. The collective dynamics on the coopetition network is described by a multiagent system.  ...  Finally, simulation results are provided to demonstrate the bipartite consensus formation.  ...  A spanning tree of a directed graph is a directed tree containing directed paths from the root to all other nodes of the graph.  ... 
doi:10.1155/2014/689070 fatcat:k5ecjycbwvfr7halitsaijw7se

Multi-Agent Cooperative Control Consensus: A Comparative Review

Muhammad Majid Gulzar, Syed Tahir Hussain Rizvi, Muhammad Yaqoob Javed, Umer Munir, Haleema Asif
2018 Electronics  
The application under both non-formation and formation cooperative control consensus for multi-agent system also investigated.  ...  Electronics 2018, 7, 22 2 of 20 handling, air traffic control, cooperative search and timing, or as formation control problems such as mobile agents involved in surveillance and reconnaissance operations  ...  Contrary to a directed graph, the undirected graph can be seen as a special type of directed graph where un-ordered pairs of nodes are allowed.  ... 
doi:10.3390/electronics7020022 fatcat:vieefonb35ezjcg7uy2u3fodyi

2019 Index IEEE Transactions on Control of Network Systems Vol. 6

2019 IEEE Transactions on Control of Network Systems  
Taha, A.F., +, TCNS June 2019 750-762 Control systems Consensus of Higher Order Agents: Robustness and Heterogeneity.  ...  ., +, TCNS March 2019 324-337 Consensus of Higher Order Agents: Robustness and Heterogeneity.  ... 
doi:10.1109/tcns.2020.2967203 fatcat:y7saxrrnzvgxjmzz2vrl62ranu

A Generalized Graph-Based Method for Engineering Swarm Solutions to Multiagent Problems [chapter]

R. Paul Wiegand, Mitchell A. Potter, Donald A. Sofge, William M. Spears
2006 Lecture Notes in Computer Science  
We present two key components of a principled method for constructing modular, heterogeneous swarms.  ...  First, we generalize a well-known technique for representing swarm behaviors to extend the power of multiagent systems by specializing agents and their interactions.  ...  Engineering Physicomimetic Solutions using Directed Graphs Our goal is to systematically design formation-oriented, collaborative multiagent teams capable of true heterogeneity and modularity.  ... 
doi:10.1007/11844297_75 fatcat:imkuhguzbfewpi3ddighrgakzu

Consensus of Heterogeneous Multiagent Systems with Switching Dynamics

Wenshuai Wang, Juling Wang, Huaizhu Wang, Yuanshi Zheng
2018 Mathematical Problems in Engineering  
Heterogeneity is an important feature of multiagent systems. This paper addresses the consensus problem of heterogeneous multiagent systems composed of first-integrator and double-integrator agents.  ...  The dynamics of each agent switches between continuous-time and discrete-time dynamics.  ...  In general, the study of multiagent system pertains to consensus problems [7] [8] [9] [10] [11] [12] , containment control [13] [14] [15] , controllability analysis [16, 17] , formation control [18  ... 
doi:10.1155/2018/5179470 fatcat:vu5pdbr7rnhutffot77ykx7c34

2018 Index IEEE Transactions on Control of Network Systems Vol. 5

2018 IEEE Transactions on Control of Network Systems  
., +, TCNS March 2018 67-78 Directed graphs A Multiple Lyapunov Function Approach to Distributed Synchronization Control of Multi-Agent Systems With Switching Directed Communication Topologies and  ...  ., +, TCNS March 2018 251-261 Distributed Adaptive Consensus Disturbance Rejection for Multi-Agent Systems on Directed Graphs.  ...  Dynamic programming Information theory Information Flow in a Boolean Network Model of Collective Behavior. Porfiri, M.,  ... 
doi:10.1109/tcns.2019.2896050 fatcat:gwrx5cntwrfdzaodscu5jvrdhe

A Doppler Centroid Estimator for Synthetic Aperture Radar Based on Phase Center Point Tracking

Iingzeng Wang, Junjie Wu, Wei Pu, Wenchao Li, Jianyu Yang
2018 IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium  
Heterogeneity is an important feature of multiagent systems. This paper addresses the consensus problem of heterogeneous multiagent systems composed of first-integrator and double-integrator agents.  ...  The dynamics of each agent switches between continuous-time and discrete-time dynamics.  ...  In general, the study of multiagent system pertains to consensus problems [7] [8] [9] [10] [11] [12] , containment control [13] [14] [15] , controllability analysis [16, 17] , formation control [18  ... 
doi:10.1109/igarss.2018.8519374 dblp:conf/igarss/WangWPLY18 fatcat:rkuer45qwvftxizwkwyh5bzem4
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