Automatic Leader-Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies

doi:10.1109/TCYB.2018.2865803

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	Automatic Leader-Follower Persistent Formation Generation With Minimum Agent-Movement in Various Switching Topologies
	Yu, Dengxiu 1,2; Chen, C. L. Philip 3,4,5
发表期刊	IEEE TRANSACTIONS ON CYBERNETICS
ISSN	2168-2267
	2020-04-01
卷号	50 期号:4 页码:1569-1581
通讯作者	Chen, C. L. Philip(philip.chen@ieee.org)
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.
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
DOI	10.1109/TCYB.2018.2865803
关键词[WOS]	MULTIAGENT SYSTEMS ; CONSENSUS ; NETWORK
收录类别	SCI
语种	英语
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
项目资助者	National Natural Science Foundation of China ; Macau Science and Technology Development Fund (FDCT) ; Multiyear Research Grants of the University of Macau
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号	WOS:000519727800019
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：59[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/38637
专题	离退休人员
通讯作者	Chen, C. L. Philip
作者单位	1.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
通讯作者单位	中国科学院自动化研究所
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.