Download or read book Distributed Formation Control of Multi Agent Systems written by Marcus Bartels and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Distributed Formation Control of Multi agent Systems written by Junyan Hu and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Distributed Formation Control of Networked Dynamic Multi agent Systems written by Okechi Onuoha and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Distributed Source Seeking with Formation Control of Multi Agent Systems written by Siavash Ahmadi Barogh and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Coordination and Formation Control for Multi agent Systems written by Zhiyong Sun and published by Springer. This book was released on 2018-02-23 with total page 189 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Formation Control of Multi Agent Systems written by Marcio de Queiroz and published by John Wiley & Sons. This book was released on 2019-04-08 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation Control of Multi-Agent Systems: A Graph Rigidity Approach Marcio de Queiroz, Louisiana State University, USA Xiaoyu Cai, FARO Technologies, USA Matthew Feemster, U.S. Naval Academy, USA 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.

Download or read book Cooperative Control of Distributed Multi Agent Systems written by Jeff Shamma and published by John Wiley & Sons. This book was released on 2008-02-28 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.

Download or read book Control of Multi agent Systems written by Masaaki Nagahara and published by Springer Nature. This book was released on with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Control of Multi Agent Systems written by Frank L. Lewis and published by Springer Science & Business Media. This book was released on 2013-12-31 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Cooperative Control of Multi Agent Systems written by Zhongkui Li and published by CRC Press. This book was released on 2017-12-19 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed controller design is generally a challenging task, especially for multi-agent systems with complex dynamics, due to the interconnected effect of the agent dynamics, the interaction graph among agents, and the cooperative control laws. Cooperative Control of Multi-Agent Systems: A Consensus Region Approach offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics. Beginning with an introduction to cooperative control and graph theory, this monograph: Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems Studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input Examines the distributed containment control problem for the case with multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

Download or read book Distributed Control of Multi agent Systems written by He Hao and published by . This book was released on 2012 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of distributed control of multi-agent systems (MASs) is to achieve a global control objective while using only locally available information. Each agent computes its own control action by using only information that can be obtained by either communication with its nearby neighbors or by on-board sensors. Recent years have witnessed a burgeoning interest in MASs due to their wide range of applications, such as automated highway system, surveillance and rescue by coordination of aerial and ground vehicles, spacecraft formation control for science missions. Most of these applications involve a large number of agents that are distributed over a broad geographical domain, in which a centralized control solution that requires all-to-all or all-to-one communication is impractical due to overwhelming communication demands. This motivates study of distributed control architectures, in which each agent makes control decisions based on only locally available information. Although it is more appealing than centralized control in this regard, distributed control suffers from a few limitations. In particular, its performance usually degrades as the number of agents in the collection increases. In this work, we examine two classes of distributed control problems: vehicular formation control and distributed consensus. Despite difference in their agent dynamics, the two problems are similar. In the vehicular formation control problem, each agent is modeled as a double-integrator. In contrast, the dynamics of each agent in distributed consensus is usually given by a single-integrator or its discrete counterpart.

Download or read book Formation Control of Multi agent Systems written by Marcio S. de Queiroz and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: 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"--

Download or read book Distributed Consensus in Multi vehicle Cooperative Control written by Wei Ren and published by Springer Science & Business Media. This book was released on 2007-10-27 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: Assuming only neighbor-neighbor interaction among vehicles, this monograph develops distributed consensus strategies that ensure that the information states of all vehicles in a network converge to a common value. Readers learn to deal with groups of autonomous vehicles in aerial, terrestrial, and submarine environments. Plus, they get the tools needed to overcome impaired communication by using constantly updated neighbor-neighbor interchange.

Download or read book Distributed Optimization Based Control of Multi Agent Networks in Complex Environments written by Minghui Zhu and published by Springer. This book was released on 2015-06-11 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a concise and in-depth exposition of specific algorithmic solutions for distributed optimization based control of multi-agent networks and their performance analysis. It synthesizes and analyzes distributed strategies for three collaborative tasks: distributed cooperative optimization, mobile sensor deployment and multi-vehicle formation control. The book integrates miscellaneous ideas and tools from dynamic systems, control theory, graph theory, optimization, game theory and Markov chains to address the particular challenges introduced by such complexities in the environment as topological dynamics, environmental uncertainties, and potential cyber-attack by human adversaries. The book is written for first- or second-year graduate students in a variety of engineering disciplines, including control, robotics, decision-making, optimization and algorithms and with backgrounds in aerospace engineering, computer science, electrical engineering, mechanical engineering and operations research. Researchers in these areas may also find the book useful as a reference.

Download or read book Joint Source Channel Decoding written by Pierre Duhamel and published by Academic Press. This book was released on 2009-11-26 with total page 337 pages. Available in PDF, EPUB and Kindle. Book excerpt: - Treats joint source and channel decoding in an integrated way - Gives a clear description of the problems in the field together with the mathematical tools for their solution - Contains many detailed examples useful for practical applications of the theory to video broadcasting over mobile and wireless networks Traditionally, cross-layer and joint source-channel coding were seen as incompatible with classically structured networks but recent advances in theory changed this situation. Joint source-channel decoding is now seen as a viable alternative to separate decoding of source and channel codes, if the protocol layers are taken into account. A joint source/protocol/channel approach is thus addressed in this book: all levels of the protocol stack are considered, showing how the information in each layer influences the others. This book provides the tools to show how cross-layer and joint source-channel coding and decoding are now compatible with present-day mobile and wireless networks, with a particular application to the key area of video transmission to mobiles. Typical applications are broadcasting, or point-to-point delivery of multimedia contents, which are very timely in the context of the current development of mobile services such as audio (MPEG4 AAC) or video (H263, H264) transmission using recent wireless transmission standards (DVH-H, DVB-SH, WiMAX, LTE). This cross-disciplinary book is ideal for graduate students, researchers, and more generally professionals working either in signal processing for communications or in networking applications, interested in reliable multimedia transmission. This book is also of interest to people involved in cross-layer optimization of mobile networks. Its content may provide them with other points of view on their optimization problem, enlarging the set of tools which they could use. Pierre Duhamel is director of research at CNRS/ LSS and has previously held research positions at Thomson-CSF, CNET, and ENST, where he was head of the Signal and Image Processing Department. He has served as chairman of the DSP committee and associate Editor of the IEEE Transactions on Signal Processing and Signal Processing Letters, as well as acting as a co-chair at MMSP and ICASSP conferences. He was awarded the Grand Prix France Telecom by the French Science Academy in 2000. He is co-author of more than 80 papers in international journals, 250 conference proceedings, and 28 patents. Michel Kieffer is an assistant professor in signal processing for communications at the Université Paris-Sud and a researcher at the Laboratoire des Signaux et Systèmes, Gif-sur-Yvette, France. His research interests are in joint source-channel coding and decoding techniques for the reliable transmission of multimedia contents. He serves as associate editor of Signal Processing (Elsevier). He is co-author of more than 90 contributions to journals, conference proceedings, and book chapters. - Treats joint source and channel decoding in an integrated way - Gives a clear description of the problems in the field together with the mathematical tools for their solution - Contains many detailed examples useful for practical applications of the theory to video broadcasting over mobile and wireless networks

Download or read book Distributed Control of Multi agent Systems Under Communication Constraints written by Syed Ali Ajwad and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-agent systems (MAS) have gained much popularity due to their vast range of applications. MAS is deployed to achieve more complex goals which could not be realized by a single agent alone. Communication and information exchange among the agents in a MAS is crucial to control its cooperative behavior. Agents share their information with their neighbors to reach a common objective, thus do not require any central monitoring unit. However, the communication among the agents is subject to various practical constraints. These constraints include irregular and asynchronous sampling periods and the availability of partial states only. Such constraints pose significant theoretical and practical challenges. In this thesis, we investigate two fundamental problems related to distributed cooperative control, namely consensus and formation control, of double-integrator MAS under these constraints. It is considered that each agent in the network can measure and transmit its position state only at nonuniform and asynchronous sampling instants. Moreover, the velocity and acceleration are not available. First, we study the problem of distributed control of leader-following consensus. A continuous-discrete time observer based leader-following algorithm is proposed. The observer estimates the position and velocity of the agent and its neighbor in continuous time from the available sampled position data. Then these estimated states are used for the computation of the control input. Both fixed and switching topology scenarios are discussed. Secondly, a consensus based distributed formation tracking protocol is designed to achieve both fixed and time-varying formation patterns. Collision avoidance problem is also studied in this thesis. An Artificial Potential Function (APF) based collision avoidance mechanism is incorporated with the formation tracking algorithm to prevent collisions between the agents while converging to a desired position. Finally, the proposed algorithms are applied on a multi-robot network, consisting of differential drive robots using Robot Operating System (ROS). A new scheme is proposed to deal with nonholonomic constraints of the robot. Efficiency of the designed algorithms and their effectiveness in real world applications are shown through both simulation and hardware results.