Formation Control
Formation Control

Author: Hyo-Sung Ahn

Publisher: Springer

Published: 2019-03-29

Total Pages: 368

ISBN-13: 3030151875

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This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.

Formation Control of Multi-Agent Systems
Formation Control of Multi-Agent Systems

Author: Marcio de Queiroz

Publisher: John Wiley & Sons

Published: 2019-04-08

Total Pages: 204

ISBN-13: 1118887441

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A comprehensive guide to formation control of multi-agent systems using rigid graph theory This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding. Key features: Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results. Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.

Formation Control of Multi-agent Systems
Formation Control of Multi-agent Systems

Author: Marcio S. de Queiroz

Publisher:

Published: 2019

Total Pages:

ISBN-13: 9781118887455

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Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results Market description: Primary: Researchers and practitioners working in the areas of control systems, robotics and multi-agent systems. Secondary: Graduate students in control systems, robotics, and multi-agent systems"--

Cooperative Coordination and Formation Control for Multi-agent Systems
Cooperative Coordination and Formation Control for Multi-agent Systems

Author: Zhiyong Sun

Publisher: Springer

Published: 2018-02-23

Total Pages: 189

ISBN-13: 3319742655

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The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms. In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems.

Distributed Average Tracking in Multi-agent Systems
Distributed Average Tracking in Multi-agent Systems

Author: Fei Chen

Publisher: Springer Nature

Published: 2020-02-04

Total Pages: 240

ISBN-13: 3030395367

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This book presents a systematic study of an emerging field in the development of multi-agent systems. In a wide spectrum of applications, it is now common to see that multiple agents work cooperatively to accomplish a complex task. The book assists the implementation of such applications by promoting the ability of multi-agent systems to track — using local communication only — the mean value of signals of interest, even when these change rapidly with time and when no individual agent has direct access to the average signal across the whole team; for example, when a better estimation/control performance of multi-robot systems has to be guaranteed, it is desirable for each robot to compute or track the averaged changing measurements of all the robots at any time by communicating with only local neighboring robots. The book covers three factors in successful distributed average tracking: algorithm design via nonsmooth and extended PI control; distributed average tracking for double-integrator, general-linear, Euler–Lagrange, and input-saturated dynamics; and applications in dynamic region-following formation control and distributed convex optimization. The book presents both the theory and applications in a general but self-contained manner, making it easy to follow for newcomers to the topic. The content presented fosters research advances in distributed average tracking and inspires future research directions in the field in academia and industry.

Control of Complex Systems
Control of Complex Systems

Author: Kyriakos Vamvoudakis

Publisher: Butterworth-Heinemann

Published: 2016-07-27

Total Pages: 764

ISBN-13: 0128054379

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In the era of cyber-physical systems, the area of control of complex systems has grown to be one of the hardest in terms of algorithmic design techniques and analytical tools. The 23 chapters, written by international specialists in the field, cover a variety of interests within the broader field of learning, adaptation, optimization and networked control. The editors have grouped these into the following 5 sections: "Introduction and Background on Control Theory, "Adaptive Control and Neuroscience, "Adaptive Learning Algorithms, "Cyber-Physical Systems and Cooperative Control, "Applications.The diversity of the research presented gives the reader a unique opportunity to explore a comprehensive overview of a field of great interest to control and system theorists. This book is intended for researchers and control engineers in machine learning, adaptive control, optimization and automatic control systems, including Electrical Engineers, Computer Science Engineers, Mechanical Engineers, Aerospace/Automotive Engineers, and Industrial Engineers. It could be used as a text or reference for advanced courses in complex control systems. • Collection of chapters from several well-known professors and researchers that will showcase their recent work • Presents different state-of-the-art control approaches and theory for complex systems • Gives algorithms that take into consideration the presence of modelling uncertainties, the unavailability of the model, the possibility of cooperative/non-cooperative goals and malicious attacks compromising the security of networked teams • Real system examples and figures throughout, make ideas concrete - Includes chapters from several well-known professors and researchers that showcases their recent work - Presents different state-of-the-art control approaches and theory for complex systems - Explores the presence of modelling uncertainties, the unavailability of the model, the possibility of cooperative/non-cooperative goals, and malicious attacks compromising the security of networked teams - Serves as a helpful reference for researchers and control engineers working with machine learning, adaptive control, and automatic control systems

Cooperative Control of Multi-Agent Systems
Cooperative Control of Multi-Agent Systems

Author: Frank L. Lewis

Publisher: Springer Science & Business Media

Published: 2013-12-31

Total Pages: 315

ISBN-13: 1447155742

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Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.

Control of Multiple Robots Using Vision Sensors
Control of Multiple Robots Using Vision Sensors

Author: Miguel Aranda

Publisher: Springer

Published: 2017-05-11

Total Pages: 197

ISBN-13: 3319578286

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This monograph introduces novel methods for the control and navigation of mobile robots using multiple-1-d-view models obtained from omni-directional cameras. This approach overcomes field-of-view and robustness limitations, simultaneously enhancing accuracy and simplifying application on real platforms. The authors also address coordinated motion tasks for multiple robots, exploring different system architectures, particularly the use of multiple aerial cameras in driving robot formations on the ground. Again, this has benefits of simplicity, scalability and flexibility. Coverage includes details of: a method for visual robot homing based on a memory of omni-directional images; a novel vision-based pose stabilization methodology for non-holonomic ground robots based on sinusoidal-varying control inputs; an algorithm to recover a generic motion between two 1-d views and which does not require a third view; a novel multi-robot setup where multiple camera-carrying unmanned aerial vehicles are used to observe and control a formation of ground mobile robots; and three coordinate-free methods for decentralized mobile robot formation stabilization. The performance of the different methods is evaluated both in simulation and experimentally with real robotic platforms and vision sensors. Control of Multiple Robots Using Vision Sensors will serve both academic researchers studying visual control of single and multiple robots and robotics engineers seeking to design control systems based on visual sensors.

Machine Learning, Multi Agent And Cyber Physical Systems - Proceedings Of The 15th International Flins Conference (Flins 2022)
Machine Learning, Multi Agent And Cyber Physical Systems - Proceedings Of The 15th International Flins Conference (Flins 2022)

Author: Qinglin Sun

Publisher: World Scientific

Published: 2022-12-20

Total Pages: 686

ISBN-13: 9811269270

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FLINS, an acronym originally for Fuzzy Logic and Intelligent Technologies in Nuclear Science, was inaugurated by Prof. Da Ruan of the Belgian Nuclear Research Center (SCK·CEN) in 1994 with the purpose of providing PhD and Postdoc researchers with a platform to present their research ideas in fuzzy logic and artificial intelligence. For more than 28 years, FLINS has been expanded to include research in both theoretical and practical development of computational intelligent systems.With this successful conference series: FLINS1994 and FLINS1996 in Mol, FLINS1998 in Antwerp, FLINS2000 in Bruges, FLINS2002 in Gent, FLINS2004 in Blankenberge, FLINS2006 in Genova, FLINS2008 in Marid, FLINS2010 in Chengdu, FLINS2012 in Istanbul, FLINS2014 in Juan Pesoa, FLINS2016 in Roubaix, FLINS2018 in Belfast and FLINS2020 in Cologne, FLINS2022 was organized by Nankai University, and co-organized by Southwest Jiaotong University, University of Technology Sydney and Ecole Nationale Supérieure des Arts et Industries Textiles of University of Lille. This unique international research collaboration has provided researchers with a platform to share and exchange ideas on state-of-art development in machine learning, multi agent and cyber physical systems.Following the wishes of Prof. Da Ruan, FLINS2022 offered an international platform that brought together mathematicians, computer scientists, and engineers who are actively involved in machine learning, intelligent systems, data analysis, knowledge engineering and their applications, to share their latest innovations and developments, exchange notes on the state-of-the-art research ideas, especially in the areas of industrial microgrids, intelligent wearable systems, sustainable development, logistics, supply chain and production optimization, evaluation systems and performance analysis, as well as risk and security management, that have now become part and parcel of Fuzzy Logic and Intelligent Technologies in Nuclear Science.This FLINS2022 Proceedings has selected 78 conference papers that cover the following seven areas of interests: