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We investigate a new consensus problem in networks of dynamic agents, where the agents in a network can reach more than one consistent values asymptotically. It contains such consensus problem as a special case that all agents in a network reach a consistent value asymptotically. When information exchange is undirected, a novel consensus protocol is designed to solve the group consensus problem. The...
This paper discusses the distributed connected coverage problem for a group of mobile agents in 3-dimensional space and with limited-range interactions. A self-deployment algorithm is proposed, which spreads out the agent group while preserving some special core structures of the time-variant communication topologies. It should be pointed out that the core structure keeps the connectivity of the communication...
In this paper we discuss the estimation of a moving target by cooperative agents equipped with sensors. To locate a moving target, a distributed algorithm is given for the networked agents based on a time-based shift. A nonlinear filter with fusing collected sensor information is proposed to estimate the trajectory of the target with unknown dynamics. The convergence of the estimation in the sensor...
In this paper, we develop decentralized control to drive a swarm of mobile agents into a moving target region while avoiding collisions among themselves. This is achieved with the help of target potential functions and collision avoidance potential functions in Lyapunov synthesis. A basic control framework is designed on a kinematic model. There are neither requirements for pre-specified desired trajectories...
This paper presents a decentralized method to the problem of multiple unmanned aerial vehicles (UAVs) cooperative search of an unknown area. Firstly, based on search map model, the multiple UAVs cooperative search problem is posed as a receding horizon (RH) optimization decision problem, and a RH based UAV search decision process is proposed. Then, this centralized online optimization problem is partitioned...
In this work, we propose a framework for supervisory cooperative estimation of multi-agent nonlinear systems. We introduce a group of sub-observers, each estimating certain states conditioned on certain given input, output, and state information. The cooperation among the sub-observers is supervised by a discrete-event system (DES). The supervisor makes decisions on selecting and configuring a set...
This paper proposes a distributed reconfigurable robot composed of magnetic driven modules to drive the robot by electromagnets only. An overview of the proposed module is presented in this paper which includes the design concept, an overview of the mechanical and electrical systems, magnetic force dissection, system modeling, and reconfiguration examples. The reconfigurable robot is realized with...
Most existing flocking algorithms assume one single virtual leader and rely on information about both relative positions and relative velocities among neighboring agents. In this paper, we investigate the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders using only position information in the sense that agents with the same virtual leader asymptotically...
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