Automatic Leader-Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies
文献类型：期刊论文
| 作者 | Yu, Dengxiu1,2; Chen, C. L. Philip3,4,5 |
| 刊名 | IEEE TRANSACTIONS ON CYBERNETICS
 |
| 出版日期 | 2020-04-01 |
| 卷号 | 50期号:4页码:1569-1581 |
| 关键词 | Topology Switches Optimization Shape Multi-agent systems Sensors Control law downward-tree leader-follower multiagent systems (MASs) relation-invariable persistent formation (RIPF) switching topologies |
| ISSN号 | 2168-2267 |
| DOI | 10.1109/TCYB.2018.2865803 |
| 通讯作者 | Chen, C. L. Philip(philip.chen@ieee.org) |
| 英文摘要 | This paper presents the generation strategy, motion planning, and switching topologies of a distance-based leader-follower relation-invariable persistent formation (RIPF) of multiagent systems (MASs). An efficient algorithm is designed to find out if a persistent formation can be generated from a rigid graph. Derived from the properties of a rigid graph, the algorithm to generate RIPF from any initial location is presented. In order to generate different RIPFs in the switching topology, state and transition matrices are introduced. To achieve the minimum agent-movement among RIPFs, a downward-tree combinatorial optimization algorithm is presented. In the end, with the selected minimum agent-movement RIPF, a control law is designed to drive initial RIPF to desired RIPF with given distances among agents. Simulation results show the proposed generation method, control law, and downward-tree are effective to realize the desired formation. |
| WOS关键词 | MULTIAGENT SYSTEMS ; CONSENSUS ; NETWORK |
| 资助项目 | National Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61751205] ; National Natural Science Foundation of China[61572540] ; Macau Science and Technology Development Fund (FDCT)[079/2017/A2] ; Macau Science and Technology Development Fund (FDCT)[024/2015/AMJ] ; Macau Science and Technology Development Fund (FDCT)[019/2015/A] ; Multiyear Research Grants of the University of Macau |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000519727800019 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Macau Science and Technology Development Fund (FDCT) ; Multiyear Research Grants of the University of Macau |
| 源URL | [http://ir.ia.ac.cn/handle/173211/38636]  |
| 专题 | 离退休人员 |
| 通讯作者 | Chen, C. L. Philip |
| 作者单位 | 1.Northwestern Polytech Univ, Unmanned Syst Res Inst, Xian 710072, Peoples R China 2.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau 999078, Peoples R China 3.Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China 4.Dalian Maritime Univ, Coll Nav, Dalian 116026, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Dengxiu,Chen, C. L. Philip. Automatic Leader-Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies[J]. IEEE TRANSACTIONS ON CYBERNETICS,2020,50(4):1569-1581. |
| APA | Yu, Dengxiu,&Chen, C. L. Philip.(2020).Automatic Leader-Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies.IEEE TRANSACTIONS ON CYBERNETICS,50(4),1569-1581. |
| MLA | Yu, Dengxiu,et al."Automatic Leader-Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies".IEEE TRANSACTIONS ON CYBERNETICS 50.4(2020):1569-1581. |
入库方式： OAI收割
来源：自动化研究所
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