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This paper considers the consensus of the leader-following systems with a discrete-time model. The velocity of the active leader is unknown in real time. This paper designs the control laws and observers based on the neighbors to solve the consensus problem. The Lyapunov approach has played an important role in the leader-following systems. It is shown that all agents asymptotically move with the...
This paper considers an M-member "individual-based" continuous time swarm model with individuals moving with a nutrient profile (or an attractant/repellent) in an n- dimensional space. It is proved that the swarm members aggregate and eventually form a cohesive cluster of finite size for Gaussian Profiles. Moreover, all the swarm members will converge to more favorable areas of the Gaussian...
This paper presents a complex interaction delayed swarm model with a general topology to study the collective behavior of a group of autonomous agents using the nearest neighbor rulers in the presence of communication delays. It is proved that under certain conditions the swarm members will converge to a finite region around the swarm weighted center and move together in a cohesive cluster following...
Target assignment of coordinated distributed multi-agent system is an important yet difficult task. Previous methods (e.g., neural network, genetic algorithm, ant colony algorithm, particle swarm optimization and auction algorithm) used to address this problem have proved to be either too slow or not stable as far as converging to the global optimum is concerned. To address this problem, a new algorithm...
It is a challenging and difficult task that designing large collections of agents without centralized control to support coordinated work. Previous methods, such as rule-based systems, artificial life and market-based systems, used to address this problem have proved to be either too brittle or not scalable to large system. To address this problem, a new method based on COllective INtelligence(COIN)...
In order to resolve decision classification problem in multiple agents system, this paper first introduces the architecture of multiple agents system. It then proposes a support vector machines based assessment approach, which has the ability to learn the rules form previous assessment results from domain experts. Finally, the experiment are conducted on the artificially dataset to illustrate how...
This paper studies the controllability of a leader-follower network of dynamic agents in the presence of communication delays. The network dynamics is governed by nearest neighbor rules over a fixed communication topology. The leader is a particular agent acting as an external input to steer the other member agents. We derive sufficient conditions of the controllability of the dynamic network and...
In this brief, we provide some theoretical analysis of the consensus for networks of agents via stochastically switching topologies. We consider both discrete-time case and continuous-time case. The main contribution of this brief is that the underlying graph topology is more general in both cases than those appeared in previous papers. The weight matrix of the coupling graph is not assumed to be...
A remarkable trait of submarine battle damage is its more uncertainty and association factors. Based on research of battlefield damage analysis technique (BDAT) available and battlefield damage traits of submarine, a distributed battlefield damage assessment architecture based on multi-agent (DBDAABM) had been developed. It consists of three parts including simulation environment architecture (SEA),...
This paper presents a general delay swarm model to study the collective behavior of a group of autonomous agents in the presence of communication delays. It is proved that under certain conditions the swarm members will converge to a finite region around the swarm center and move together in a cohesive cluster following the motion of the center. For general cases, the delay swarm may display more...
Task allocation algorithm has great influence on the efficiency multi-agent task system. The performance of the existing allocation algorithms will decline with the increasing of task complexity. So a task allocation framework is presented and a semi-online multi-agent task allocation algorithm(SOAL) based on dependences of sub-tasks is proposed, the relationship of dependences among sub-tasks is...
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