Brian D. O. Anderson

article

Recent Advances in the Modelling and Analysis of Opinion Dynamics on Influence Networks

Brian D. O. Anderson, Mengbin Ye

International Journal of Automation and Computing > 2019 > 16 > 2 > 129-149

A fundamental aspect of society is the exchange and discussion of opinions between individuals, occurring in situations as varied as company boardrooms, elementary school classrooms and online social media. After a very brief introduction to the established results of the most fundamental opinion dynamics models, which seek to mathematically capture observed social phenomena, a brief discussion follows...

article

Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements

Zhiyong Sun, Hector Garcia de Marina, Brian D. O. Anderson, Ming Cao

International Journal of Robust and Nonlinear Control > 28 > 16 > 4865 - 4884

In this paper, we discuss quantization effects in rigid formation control systems when target formations are described by interagent distances. Because of practical sensing and measurement constraints, we consider in this paper distance measurements in their quantized forms. We show that under gradient‐based formation control, in the case of uniform quantization, the distance errors converge locally...

article

Distributed Averaging Using Periodic Gossiping

Changbin Yu, Brian D. O. Anderson, Shaoshuai Mou, Ji Liu, more

IEEE Transactions on Automatic Control > 2017 > 62 > 8 > 4282 - 4289

The distributed averaging problem is a consensus problem whose objective is to devise a protocol which will enable all the members of a group of autonomous agents to compute the average of the initial values of their individual consensus variables in a distributed manner. Periodic gossiping is a deterministic method for solving the distributed averaging problem by stipulating that each pair of agents...

article

Rigid Motions of 3-D Undirected Formations With Mismatch Between Desired Distances

Zhiyong Sun, Shaoshuai Mou, Brian D. O. Anderson, A. Stephen Morse

IEEE Transactions on Automatic Control > 2017 > 62 > 8 > 4151 - 4158

Use of a gradient descent control law has been a popular method to effectively stabilize undirected rigid formations, by assuming that interagent distances between a certain set of neighboring agent pairs can be accurately specified and measured. This paper examines the collective motion behavior for an infinitesimally rigid formation in a three-dimensional ambient space, in the case that neighboring...

article

Adaptive Source Localization Based Station Keeping of Autonomous Vehicles

Samet Guler, Baris Fidan, Soura Dasgupta, Brian D. O. Anderson, more

IEEE Transactions on Automatic Control > 2017 > 62 > 7 > 3122 - 3135

We study the problem of driving a mobile sensory agent to a target whose location is specified only in terms of the distances to a set of sensor stations or beacons. The beacon positions are unknown, but the agent can continuously measure its distances to them as well as its own position. This problem has two particular applications: (1) capturing a target signal source whose distances to the beacons...

article

Network Flows That Solve Linear Equations

Guodong Shi, Brian D. O. Anderson, Uwe Helmke

IEEE Transactions on Automatic Control > 2017 > 62 > 6 > 2659 - 2674

We study distributed network flows as solvers in continuous time for the linear algebraic equation

$\mathbf{z}=\mathbf{H}\mathbf{y}$

. Each node

$i$

has access to a row

${\mathbf{h}}_{i}^{\mathrm{T}}$

of the matrix

$\mathbf{H}$

and the corresponding entry

$z_i$

in the vector

$\mathbf{z}$

. The first “consensus + projection” flow under investigation consists of two terms, one from standard consensus...

article

Robust Localization Using Range Measurements With Unknown and Bounded Errors

Xiufang Shi, Guoqiang Mao, Brian D. O. Anderson, Zaiyue Yang, more

IEEE Transactions on Wireless Communications > 2017 > 16 > 6 > 4065 - 4078

Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in practice. Compared with the statistical knowledge of measurement errors, it can often be easier to obtain the measurement error bound. This paper investigates a...

article

Convergence and State Reconstruction of Time-Varying Multi-Agent Systems From Complete Observability Theory

Brian D. O. Anderson, Guodong Shi, Jochen Trumpf

IEEE Transactions on Automatic Control > 2017 > 62 > 5 > 2519 - 2523

We study continuous-time consensus dynamics for multi-agent systems with undirected switching interaction graphs. We establish a necessary and sufficient condition for exponential asymptotic consensus based on the classical theory of complete observability. The proof is remarkably simple compared to similar results in the literature and the conditions for consensus are mild. This observability-based...

article

Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

Mengbin Ye, Brian D. O. Anderson, Changbin Yu

IEEE Transactions on Aerospace and Electronic Systems > 2017 > 53 > 2 > 575 - 586

Self-localization and formation control tasks are considered when each agent in a multiagent formation observes its neighbors but does not communicate. Each agent is restricted to a predefined motion type on a 2-D plane and collects bearing-only measurements over a time interval to localize neighboring agents. The localization process is used by a three agent formation to achieve velocity consensus...

article

Simultaneous Velocity and Position Estimation via Distance-Only Measurements With Application to Multi-Agent System Control

Bomin Jiang, Mohammad Deghat, Brian D. O. Anderson

IEEE Transactions on Automatic Control > 2017 > 62 > 2 > 869 - 875

This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough information for our objectives, we postulate that agents engage in a combination of circular motion and linear motion. The proposed estimator can be used to develop control...

article

Eigenvalue Invariance of Inhomogeneous Matrix Products in Distributed Algorithms

Shaoshuai Mou, Brian D. O. Anderson

IEEE Control Systems Letters > 2017 > 1 > 1 > 8 - 13

This letter establishes a general theorem concerning the eigenvalue invariance of certain inhomogeneous matrix products with respect to changes of individual multiplicands’ orderings. Instead of detailed entries, it is the zero-nonzero structure that matters in determining such eigenvalue invariance. The theorem is then applied in analyzing the convergence rate of a distributed algorithm for solving...

chapter

A new distributed Zeno-free event-triggered algorithm for multi-agent consensus

Zhiyong Sun, Na Huang, Brian D. O. Anderson, Zhisheng Duan

2016 IEEE 55th Conference on Decision and Control (CDC) > 3444 - 3449

2016 IEEE 55th Conference on Decision and Control (CDC)

This paper develops a novel distributed event-triggered algorithm for achieving multi-agent consensus while guaranteeing a fully Zeno-free triggering for all the agents. In this framework, the controller input and event detector are based on local measurements in terms of relative states with respect to neighboring agents, and each agent updates its control input only at its own triggering instants...

chapter

Formation feasibility on coordination control of networked heterogeneous systems with drift terms

Zhiyong Sun, Brian D. O. Anderson

2016 IEEE 55th Conference on Decision and Control (CDC) > 3462 - 3467

2016 IEEE 55th Conference on Decision and Control (CDC)

In this paper, we discuss a general problem of formation feasibility for multi-agent coordination control when individual agents have kinematics constraints modelled by affine nonlinear control systems with possible drift terms. All agents need to work cooperatively to maintain a global formation task described by edge constraints. For such multi-agent group, we assume that different agents may have...

chapter

Further analysis on graph rigidity

Minh Hoang Trinh, Myoung-Chul Park, Zhiyong Sun, Brian. D. O. Anderson, more

2016 IEEE 55th Conference on Decision and Control (CDC) > 922 - 927

2016 IEEE 55th Conference on Decision and Control (CDC)

This paper presents novel results on the symmetric rigidity matrix. Based on these results, new concepts in rigidity theory are proposed, including the worst-case, and imbalance rigidity indices of planar frameworks. These new indices are scale free and could be useful in rigid network synthesis problems.

chapter

Distance-based control of K4 formation with almost global convergence

Myoung-Chul Park, Zhiyong Sun, Minh Hoang Trinh, Brian D. O. Anderson, more

2016 IEEE 55th Conference on Decision and Control (CDC) > 904 - 909

2016 IEEE 55th Conference on Decision and Control (CDC)

In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent inter-agent distances in a 2-dimensional space. The control law is closely related to a gradient-based control law formed from a potential function reflecting the error...

chapter

Quantization effects in rigid formation control

Zhiyong Sun, Hector Garcia de Marina, Brian D. O. Anderson, Ming Cao

2016 Australian Control Conference (AuCC) > 168 - 173

2016 Australian Control Conference (AuCC)

In this paper we discuss quantization effects in rigid formation control systems when target formations are described by inter-agent distances. Because of practical sensing and measurement constraints, we consider in the paper distance measurements in their quantized forms. We show that under gradient-based formation control, in the case of uniform quantization, the distance errors converge locally...

article

On the Zero-Freeness of Tall Multirate Linear Systems

Mohsen Zamani, Giulio Bottegal, Brian D. O. Anderson

IEEE Transactions on Automatic Control > 2016 > 61 > 11 > 3606 - 3611

In this technical note, tall discrete-time linear systems with multirate outputs are studied. In particular, we focus on their zeros. In systems and control literature zeros of multirate systems are defined as those of their corresponding time-invariant systems obtained through blocking of the original multirate systems. We assume that blocked systems are tall, i.e., have more outputs than inputs...

article

Undirected Rigid Formations Are Problematic

Shaoshuai Mou, Mohamed-Ali Belabbas, A. Stephen Morse, Zhiyong Sun, more

IEEE Transactions on Automatic Control > 2016 > 61 > 10 > 2821 - 2836

In a recent paper, a systematic method was proposed for devising gradient control laws for asymptotically stabilizing a large class of rigid, undirected formations in two-dimensional space assuming all agents are described by kinematic point models. The aim of this paper is to explain what happens to such formations if neighboring agents have slightly different understandings of what the desired distance...

article

Robust Localization Using Time Difference of Arrivals

Xiufang Shi, Brian. D. O. Anderson, Guoqiang Mao, Zaiyue Yang, more

IEEE Signal Processing Letters > 2016 > 23 > 10 > 1320 - 1324

We investigate a localization problem using time-difference-of-arrival measurements with unknown and bounded measurement errors. Different from most existing algorithms, we consider the minimization of the worst-case position estimation error to improve the robustness of the algorithm. The localization problem is formulated as a nonconvex optimization problem. We adopt semidefinite relaxation to relax...

article

Cooperative Content Dissemination and Offloading in Heterogeneous Mobile Networks

Guoqiang Mao, Zijie Zhang, Brian D. O. Anderson

IEEE Transactions on Vehicular Technology > 2016 > 65 > 8 > 6573 - 6587

To cope with an exponentially increasing demand on mobile data traffic in cellular networks, high-capacity WiFi and device-to-device networks can be exploited as a complementary means to offload and reduce the traffic load of cellular networks. This paper proposes a novel cooperative content dissemination strategy for a heterogeneous network consisting of different types of devices, such as WiFi access...

INFONA - science communication portal

Search results for: Brian D. O. Anderson

Recent Advances in the Modelling and Analysis of Opinion Dynamics on Influence Networks

Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements

Distributed Averaging Using Periodic Gossiping

Rigid Motions of 3-D Undirected Formations With Mismatch Between Desired Distances

Adaptive Source Localization Based Station Keeping of Autonomous Vehicles

Network Flows That Solve Linear Equations

Robust Localization Using Range Measurements With Unknown and Bounded Errors

Convergence and State Reconstruction of Time-Varying Multi-Agent Systems From Complete Observability Theory

Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

Simultaneous Velocity and Position Estimation via Distance-Only Measurements With Application to Multi-Agent System Control

Eigenvalue Invariance of Inhomogeneous Matrix Products in Distributed Algorithms

A new distributed Zeno-free event-triggered algorithm for multi-agent consensus

Formation feasibility on coordination control of networked heterogeneous systems with drift terms

Further analysis on graph rigidity

Distance-based control of K4 formation with almost global convergence

Quantization effects in rigid formation control

On the Zero-Freeness of Tall Multirate Linear Systems

Undirected Rigid Formations Are Problematic

Robust Localization Using Time Difference of Arrivals

Cooperative Content Dissemination and Offloading in Heterogeneous Mobile Networks

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