全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

DOI: 10.3390/jsan3010026

Keywords: cooperative control, swarms, distributed networks, autonomous vehicles

Full-Text   Cite this paper   Add to My Lib

Abstract:

The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios.

References

[1]  Kennedy, J.; Eberhart, R.C. Swarm Intelligence; Academic Press: London, UK, 2001.
[2]  Bonabeau, E.; Dorigo, M.; Theraulaz, G. Swarm Intelligence: From Natural to Artificial Systems; Oxford University Press: Oxford, NY, USA, 1999.
[3]  Giulietti, F.; Pollini, L.; Innocenti, M. Autonomous formation flight. IEEE Control Syst. 2000, 20, 34–44, doi:10.1109/37.887447.
[4]  Giulietti, F.; Innocenti, M.; Napolitano, M.; Pollini, L. Dynamic and control issues of formation flight. Aerosp. Sci. Technol. 2005, 9, 65–71, doi:10.1016/j.ast.2004.06.011.
[5]  Olfati-Saber, R. Flocking for multi-agent dynamic systems: Algorithms and theory. IEEE Trans. Autom. Control 2006, 51, 401–420, doi:10.1109/TAC.2005.864190.
[6]  Bracci, A.; Innocenti, M.; Pollini, L. Cooperative Task Assignment Using Dynamic Ranking. In Proceedings of the 17th IFAC World Congress, Seoul, Korea, 6–11 July 2008.
[7]  Clerc, M. Particle Swarm Optimization; ISTE Ltd.: London, UK, 2005.
[8]  Bullo, F.; Cortés, J.; Martínez, S. Distributed Control of Robotic Net-Works; Applied Mathematics Series; Princeton University Press: Princeton, NJ, 2008.
[9]  Beard, R.L.; Ren, W. Distributed Consensus in Multi Vehicle Cooperative Control; Springer-Verlag: London, UK, 2008.
[10]  Freeman, R.A.; Yang, P.; Lynch, K.M. Distributed Estimation and Control of Swarm Formation Statistics. In Proceedings of the American Control Conference, Minneapolis, MN, USA, June 2006.
[11]  Munkres, J. Algorithms for the assignment and transportation problems. SIAM J. 1957, 5, 32–38.
[12]  Schouwenaars, T.; DeMoor, B.; Feron, E.; How, J. Mixed Integer Linear Programming for Multi-Vehicle Path Planning. In Proceedings of the European Control Conference 2001, Porto, Portugal, 4–7 September 2001; pp. 2603–2608.
[13]  Reynolds, C. Flocks, herds, and schools: A distributed behavioral model. Comput. Graph. 1987, 21, 25–34, doi:10.1145/37402.37406.
[14]  Giulietti, F.; Pollini, L.; Innocenti, M. Formation Flight: A Behavioral Approach. In Proceedings of the AIAA Guidance, Navigation, and Control, Montreal, QC, Canada, 6–9 August 2001.
[15]  Passino, K.M. Biomimicry for Optimization, Control, and Automation; Springer-Verlag: London, UK, 2005.
[16]  Passino, K.M. Stability analysis of swarms. IEEE Trans. Autom. Control 2003, 48, 692–697.
[17]  Tanner, H.G.; Jadbabaie, A.; Pappas, G.J. Stable Flocking of mobile Agents, Part I: Fixed Topology. In Proceedings of the IEEE Control and Decision Conference, Maui, HI, USA, 9–12 December 2003.
[18]  Tanner, H.G.; Jadbabaie, A.; Pappas, G.J. Stable Flocking of mobile Agents, Part II: Dynamic Topology. In Proceedings of the IEEE Control and Decision Conference, Maui, HI, USA, 9–12 December 2003.
[19]  Ronchieri, E.; Innocenti, M.; Pollini, L. Decentralized Control of a Swarm of Unmanned Air Vehicles. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, USA, 20–23 August 2007.
[20]  Hague, M.H.; Egerstedt, M.; Martin, C.F. First-Order Networked Control Models of Swarming Silkworm Moths. In Proceedings of the American Control Conference, Seattle, WA, USA, 11–13 June 2008.
[21]  De Groot, M.H. Reaching a consensus. J. Am. Stat. Soc. 1974, 69, 118–121, doi:10.1080/01621459.1974.10480137.
[22]  Olfati-Saber, R.; Murray, R.M. Consensus problems in networks of agents with switching topology and time delays. IEEE Trans. Autom. Control 2004, 49, 1520–1533, doi:10.1109/TAC.2004.834113.
[23]  Jadbabaie, A.; Lin, J.; Morse, A.S. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control 2003, 48, 988–1001, doi:10.1109/TAC.2003.812781.
[24]  Cortes, J.; Bullo, F. Coordination and geometric optimization via distributed dynamical systems. SIAM J. Control Optim. 2005, 44, 1543–1574, doi:10.1137/S0363012903428652.
[25]  Muhammad, A.; Egerstedt, M. Connectivity graphs as models of local interactions. Appl. Math. Comput. 2005, 168, 243–269, doi:10.1016/j.amc.2004.08.039.
[26]  Ji, M.; Egerstedt, M. Distributed coordination control of multi-agent systems while preserving connectedness. IEEE Trans. Robot. 2007, 23, 693–703, doi:10.1109/TRO.2007.900638.
[27]  Belta, C.; Kumar, V. Abstractions and control for groups of robots. IEEE Trans. Robot. 2004, 20, 865–875, doi:10.1109/TRO.2004.829498.
[28]  Pimenta, L.C.; Nathan, M.; Mesquita, R.C. Control of Swarms Based on Hydrodynamic Models. In Proceedings of the IEEE Inter-national Conference on Robotics and Automation, Pasadena, CA, USA, 19–23 May 2008.
[29]  Jung, B.; Sukhatme, S.G. A Generalized Region-Based Approach for Multi-Target Tracking in Outdoor Environments. In Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, 26 April–1 May 2004; pp. 2189–2195.
[30]  Rimon, E.; Koditschek, D. Exact robot navigation using artificial potential functions. IEEE Trans. Robot. Autom. 1992, 8, 501–518, doi:10.1109/70.163777.
[31]  Leonard, N.; Lekien, F. Non-uniform coverage and cartograms. SIAM J. Control Optim. 2009, 48, doi:10.1137/070681120.
[32]  Niccolini, M.; Innocenti, M.; Pollini, L. Near Optimal Swarm Deployment Using Descriptor Functions. In Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, 3–7 May 2010; Volume 1, pp. 4952–4957.
[33]  Ferrari-Braga, A.; Innocenti, M.; Pollini, L. Multi-Agent Coordination with Arbitrarily Shaped Descriptor Functions. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, Boston, MA, USA, 19–22 August 2013.
[34]  Pollini, L.; Innocenti, M. A synthetic environment for dynamic systems control and distributed simulation. IEEE Control Syst. 2000, 20, 49–61, doi:10.1109/37.833640.
[35]  Niccolini, M. Swarm Abstractions for Distributed Estimation and Control. Ph.D. Dissertation, Department of Electrical Systems and Automation, University of Pisa, Pisa, Italy, July 2011.
[36]  Brooks, R.A. Cambrian Intelligence: The Early History of the New AI; MIT Press: Cambridge, MA, USA, 1999.
[37]  Murphy, R.R. Introduction to AI Robotics; MIT Press: Cambridge, MA, USA, 2000.
[38]  Pollini, L.; Niccolini, M.; Rosellini, M.; Innocenti, M. Human-Swarm Interface for Abstraction Based Control. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, Chicago, IL, USA, 10–13 August 2009.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133