CASIA OpenIR
Automatic Leader-Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies
Yu, Dengxiu1,2; Chen, C. L. Philip3,4,5
Source PublicationIEEE TRANSACTIONS ON CYBERNETICS
ISSN2168-2267
2020-04-01
Volume50Issue:4Pages:1569-1581
Corresponding AuthorChen, C. L. Philip(philip.chen@ieee.org)
AbstractThis 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.
KeywordTopology Switches Optimization Shape Multi-agent systems Sensors Control law downward-tree leader-follower multiagent systems (MASs) relation-invariable persistent formation (RIPF) switching topologies
DOI10.1109/TCYB.2018.2865803
WOS KeywordMULTIAGENT SYSTEMS ; CONSENSUS ; NETWORK
Indexed BySCI
Language英语
Funding ProjectNational 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
Funding OrganizationNational Natural Science Foundation of China ; Macau Science and Technology Development Fund (FDCT) ; Multiyear Research Grants of the University of Macau
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000519727800019
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/38637
Collection中国科学院自动化研究所
Corresponding AuthorChen, C. L. Philip
Affiliation1.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau 999078, Peoples R China
2.Northwestern Polytech Univ, Unmanned Syst Res Inst, Xian 710072, 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
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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