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Model-based event-triggered pursing and surrounding control for a multi-robotic fish system | |
Dai, Shijie(戴时捷)1,2![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Robotics and Automation Letters
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2023 | |
卷号 | 8期号:6页码:3788-3795 |
文章类型 | 期刊论文 |
摘要 | This paper investigates the event-triggered-based pursuing and surrounding control of a multi-robotic fish system. A distributed surrounding control framework is put forward to deploy the whole system and enclose the dynamic evader into a convex hull. In particular, distributed kinematics-based motion predictions are hold for common agents in the multi-robotic fish system in addition to the evader. Based on the optimal state estimations, an innovative model-based event-triggered mechanism is tailored rather than frequent interactions to evaluate the importance of the messages. Afterwards, a two-stage position-based surrounding control method is provided. By arbitrating the trade-off between the control performance and interaction frequency, the event-triggered function is regulated to delicately execute the surrounding control task while sharply slashing the interactions. Finally, adequate simulations and experiments are conducted to ensure the effectiveness and robustness of the proposed method. Therefore, whether for communication energy conservation or attack defense, the proposed method shows its significance for future marine assignments. |
收录类别 | SCI |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52018 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.中国科学院大学人工智能学院 2.中国科学院自动化研究所复杂系统管理与控制国家重点实验室 3.北京大学北京大学湍流与复杂系统国家重点实验室 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Dai, Shijie,Zhengxing Wu,Sijie Li,et al. Model-based event-triggered pursing and surrounding control for a multi-robotic fish system[J]. IEEE Robotics and Automation Letters,2023,8(6):3788-3795. |
APA | Dai, Shijie,Zhengxing Wu,Sijie Li,Jian Wang,Min Tan,&Junzhi Yu.(2023).Model-based event-triggered pursing and surrounding control for a multi-robotic fish system.IEEE Robotics and Automation Letters,8(6),3788-3795. |
MLA | Dai, Shijie,et al."Model-based event-triggered pursing and surrounding control for a multi-robotic fish system".IEEE Robotics and Automation Letters 8.6(2023):3788-3795. |
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Model-Based_Event-Tr(2248KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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