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Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems

Hongtao Dang, Yichen Du, Lingyun Kong, Hui Yao, Jianxiang Xi
2020 Complexity  
Guaranteed-performance formation control for swarm systems with the second-order dynamics is investigated based on the synchronization control strategy.  ...  Then, on the basis of the Riccati inequality, sufficient conditions for synchronization-based guaranteed-performance formation are proposed, and an explicit expression of the guaranteed-performance cost  ...  investigates a fully distributed strategy to realize synchronization-based guaranteed-performance formation design for swarm systems.  ... 
doi:10.1155/2020/3076132 fatcat:ch2z7zgacnafnaepw2iuk5m7ay

A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles

Ziquan YU, Youmin ZHANG, Bin JIANG, Jun FU, Ying JIN
2021 Chinese Journal of Aeronautics  
, behavior-based, virtual structure, collision avoidance, algebraic graph-based, and close formation control methods, which are viewed as the cooperative control methods for multi-UAVs at the pre-fault  ...  To facilitate the analyses of FTCC methods for multi-UAVs, the formation control strategies under fault-free flight conditions of multi-UAVs are first summarized and analyzed, including the leader-following  ...  Recently, fractional-order calculus was introduced to the synchronization tracking error-based FTCC design to improve the control performance for multi-UAVs.  ... 
doi:10.1016/j.cja.2021.04.022 fatcat:gdf3b4n355ev3fthgubogfq2ba

Drone Swarms as Networked Control Systems by Integration of Networking and Computing

Godwin Asaamoning, Paulo Mendes, Denis Rosário, Eduardo Cerqueira
2021 Sensors  
Based on a literature analysis, we do not find revision papers about design of drone swarms as NCS.  ...  Finally, we identify a potential design choice, and a set of open research challenges for the integration of network and computing in a drone swarm as an NCS.  ...  and on constant basis broadcast and as well receive movement information to share their common goal [75] Deployed to perform formation control in multi-UAV system Formulates formation solution based  ... 
doi:10.3390/s21082642 pmid:33918696 fatcat:b6r6kwtctfdn3lgfw7zpjvdydi

New advances in multiple autonomous aerial robots formation control technology

Yang Xu, DeLin Luo, YanCheng You, HaiBin Duan
2019 Science China Technological Sciences  
The approaches proposed in the early stage such as behavior-based ones can handle complex formation tasks but are not able to guarantee system convergence.  ...  Formation control technology for such aerial robots is incessantly springing up to satisfy the requirements of highly intelligent autonomous systems, which affects both military and civil areas, including  ...  The approaches proposed in the early stage such as behavior-based ones can handle complex formation tasks but are not able to guarantee system convergence.  ... 
doi:10.1007/s11431-018-9457-9 fatcat:r64vftwrh5cv5kqrntzru5vzj4

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 recent years, several branches of control and optimization for swarm systems have been developed based on different purposes and scenarios.  ...  Swarm systems (or multi-agent systems) become increasingly beneficial in performing complex tasks.  ...  In [20] , a necessary and sufficient condition is proposed for output synchronization of a swarm system composed by heterogeneous linear models.  ... 
doi:10.1109/icca.2016.7505246 dblp:conf/icca/ZhuXH16 fatcat:t2fuy5lmfjg5zf7cattdzwoupm

Development of Self-Synchronized Drones' Network using Cluster-based Swarm Intelligence Approach

Fawaz Alsolami, Fahad A. Alqurashi, Mohammad Kamrul Hasan, Rashid A. Saeed, S. Abdel-Khalek, Anis Ben Ishak
2021 IEEE Access  
Self-timing synchronization is swarm cluster-based and applicable for a huge number of master drones in SDN.  ...  In the drones' network, master drones' (MD) neighbor drone's timing synchronization approaches like Reference Broadcast System (RBS) realize a good performance.  ...  by forming swarm clusters among random MD drones' number and implementing hybrid (one way and two ways) messaging system for both inter-swarm cluster and intra-swarm cluster timing synchronization approaches  ... 
doi:10.1109/access.2021.3064905 fatcat:7t63hkdmondh3jw5yf675vpr34

Resilient Control and Safety for Multi-Agent Cyber-Physical Systems

Anna Lukina
2017 Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence  
I have designed a very general adaptive receding-horizon synthesis approach to planning and control that can be applied to controllable stochastic dynamical systems.  ...  The optimization technique based on the best features of Model Predictive Control and Particle Swarm Optimization proves to be robust in finding a winning strategy in the stochastic non-cooperative games  ...  However, MPC provides no convergence guarantees for stochastic systems. Sequential Monte-Carlo methods proved to be efficient in tackling the question of control for linear stochastic systems.  ... 
doi:10.24963/ijcai.2017/753 dblp:conf/ijcai/Lukina17 fatcat:fqfxj36ntjb7hd6qrpiy2iruly

Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies

Hongtao Dang, Le Wang, Yan Zhang, Jianye Yang, Ning Cai
2020 Complexity  
This paper discusses limited-budget time-varying formation design and analysis problems for a high-order linear swarm system with a fixed communication topology.  ...  number of agents of a swarm system and can be transformed into linear matrix inequality constraints.  ...  In [20] , formation control methods were divided into three classes: the virtual structure method, the behavior-based method, and the synchronization-based method, and it was pointed out that the synchronization-based  ... 
doi:10.1155/2020/8825301 fatcat:pxabjapvn5agxfgvqqlv5nocai

Swarm Robotic Behaviors and Current Applications

Melanie Schranz, Martina Umlauft, Micha Sende, Wilfried Elmenreich
2020 Frontiers in Robotics and AI  
In contrast, the research platforms present a means for transforming swarm robotics solutions from theory to prototype industrial systems.  ...  Second, current communication architectures often do not match requirements for swarm communication, which often leads to a system with a centralized communication infrastructure.  ...  ACKNOWLEDGMENTS We thank Arthur Pitman and Andreas Kercek for proofreading the text.  ... 
doi:10.3389/frobt.2020.00036 pmid:33501204 pmcid:PMC7805972 doaj:b6b5ca0ab5e74460ba9da0c68be2998b fatcat:jhagkabpevccfpfsrtdbozq6wy

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.  ...  The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware.  ...  The authors thank Salar Rahili for his comments and Lily Kass for her editorial assistance.  ... 
doi:10.1109/tro.2018.2857475 fatcat:4blp42msbzakvmwlwyd3e57o2e

Middleware Design for Swarm-Driving Robots Accompanying Humans

Min Kim, Sang Kim, Soon Kang
2017 Sensors  
This composition is intended to control the overall swarm in synchronization with the user activity, which is difficult to predict.  ...  Therefore, in this study, we propose a swarm-driving middleware design adopting the concept of a swarm, which provides effective parallel movement to allow multiple human-accompanying robots to accomplish  ...  Swarm Formation and Maintenance In this study, we used the leader-follower-based swarm-formation control method to move the swarm synchronously with the user.  ... 
doi:10.3390/s17020392 pmid:28218650 pmcid:PMC5336050 fatcat:kulk3nuylnfz5caxt76d6rxyhm

Recent Advances in Formations of Multiple Robots

Saar Cohen, Noa Agmon
2021 Current Robotics Reports  
while providing performance guarantees.  ...  Moreover, the formation control task itself may have various objectives. These divergences force the use of different models for controlling the formation and for analyzing the task performance.  ...  [38] aim at designing a decentralized controller, based on a synchronization signal in the presence of time-varying formation.  ... 
doi:10.1007/s43154-021-00049-2 fatcat:xu4xzhaqpvduljk6pvf34z6fva

Assembling a Swarm Navigation System: Communication, Localization, Sensing and Control

Siwei Zhang, Robert Pohlmann, Emanuel Staudinger, Armin Dammann
2021 2021 IEEE 18th Annual Consumer Communications & Networking Conference (CCNC)  
With that we aim to shed light on some essential issues when designing a communication system particularly suitable for swarms.  ...  In this paper, we share our experience in the assembling of a radio-based swarm system, from module design to system integration, from theoretical investigation to experimental platform development.  ...  The authors would like to thank Thomas Wiedemann and Stefano Caizzone for their support.  ... 
doi:10.1109/ccnc49032.2021.9369547 fatcat:szzwbvcctfbapp4zcb6rcwr2xu

Comparison of Linear and Nonlinear Methods for Distributed Control of a Hierarchical Formation of UAVs

Anam Tahir, Jari Boling, Mohammad-Hashem Haghbayan, Juha Plosila
2020 IEEE Access  
As a solution for this, a multi-layered and distributed control system is proposed for the swarm of drones in the formation of hierarchical levels based on the leader-follower approach.  ...  The safe travel distance strategy for collision avoidance is introduced and integrated into the control designs for maintaining the hierarchical states in the formation.  ...  Toivonen, Laboratory of Process and Systems Engineering, Åbo Akademi University, Turku, Finland, for discussions related to this article.  ... 
doi:10.1109/access.2020.2988773 fatcat:n7efptf5dvhulonvdi4pl2cg64

On Development of 100-Gram-Class Spacecraft for Swarm Applications

Fred Y. Hadaegh, Soon-Jo Chung, Harish M. Manohara
2016 IEEE Systems Journal  
A system cost analysis based on this comparison justifies deploying a large number of femtosatellites for sparse aperture applications.  ...  New swarm array configurations are introduced and shown to achieve the effective sparse aperture driven from optical performance metrics.  ...  In the following for the initial separation between any two spacecraft which guarantees f poor initial spacing in the swarm.  ... 
doi:10.1109/jsyst.2014.2327972 fatcat:obva5yhlgvfljkd4l2dn6h3tcy
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