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We consider the conflict dynamics between two multi-agent swarms. First, the complex nature of a single pursuer attempting to intercept a single evader (1P-1E) is investigated, and some rudimentary rules of engagement are established. We elaborate on the stability repercussions of these rules. Second, we extend the modeling and stability analysis to multi-agent swarms. The present document considers...
In this article we present novel formation control laws based on artificial potential fields and consensus algorithms for a group of unicycles enabling arbitrary formation patterns for these nonholonomic vehicles. Given connected and balanced graphs we are able to prove stability of the rendezvous controller by applying the LaSalle-Krasovskii invariance principle. Further, we introduce obstacle avoidance,...
We present a motion planning algorithm that computes rough trajectories used by a contact-points planner as a guide to grow its search graph. We adapt collision-free motion planning algorithms to plan a path within the guide space, a submanifold of the configuration space included in the free space in which the configurations are subject to static stability constraint. We first discuss the definition...
This research aims to construct sliding mode control (SMC) system that decreases chattering in controlled object of discrete time system. In conventional SMC, chattering has been generated by turbulence's influencing the state, and repeating operation that jumps over switching hyperplane. Then, we thought about switching hyperplane that always moved according to the change in the state. The feature...
An evaluation problem of codewords for DNA computing was studied. The constraints on codewords design were discussed, five evaluation criteria: distance constraint, GC-content, continuous bases, melting temperature and free energy were presented. According to the correlation of the criteria, the combined weight method, which based on statistics principle was proposed, and then a comprehensive evaluation...
In this paper we give effective estimates for the distance of a stable matrix to the set of unstable matrices for both the continuous- and discrete-time cases. The first estimate is based on preliminary reduction of the system matrix into Schur form and further use of the Gershgorin theorem. In this case we treat the continuous- and discrete-time systems in an unified manner. In the second estimate...
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