Cooperative control of multi-agent systems : theory and applications / edited by Yue Wang, Eloy Garcia, David Casbeer, Fumin Zhang.

Format:

Book

Contributor:

Wang, Yue, Prof. Dr., editor.

Garcia, Eloy, editor.

Casbeer, David W., 1978- editor.

Zhang, Fumin (College teacher), editor.

Wiley InterScience (Online service)

Language:

English

Subjects (All):

Multiagent systems--Control.

Multiagent systems.

Physical Description:

1 online resource

polychrome

Place of Publication:

Hoboken, NJ : Wiley, 2017.

System Details:

text file

Contents:

1 Introduction / Yue Wang Wang, Yue, Eloy Garcia Garcia, Eloy, David Casbeer Casbeer, David, Fumin Zhang Zhang, Fumin 1

1.1 Introduction 1

1.2 Chapter Summary and Contributions 11

References 17

2 Sensor Placement Algorithms for a Path Covering Problem / Sivakumar Rathinam Rathinam, Sivakumar, Rajnikant Sharma Sharma, Rajnikant 31

2.1 Problem Statement 34

2.2 Algorithm Approx₁ 35

2.2.1 Algorithm for Targets That Lie Within a Strip 36

2.2.2 Algorithm for a General Set of Points 37

2.2.3 Proof of the Approximation Ratio 38

2.3 Algorithm Approx₂ 42

2.4 Numerical Results 46

2.5 Conclusions 48

References 48

3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE / Steven A. P. Quintero Quintero, Steven A. P., David A. Copp Copp, David A., João P. Hespanha Hespanha, João P. 51

3.1 Vision-Based Target Tracking 53

3.2 Problem Formulation 58

3.2.1 UAV Dynamics 58

3.2.2 Target Dynamics and Overall State Space 61

3.2.3 Measurement Error Models 62

3.3 Robust Output-Feedback MPC/MHE 64

3.4 Simulation Results 67

3.4.1 Constant-Velocity Target 70

3.4.2 Evasive Target 73

3.4.3 Experimental Target Log 76

3.5 Conclusion and Future Work 79

References 80

4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints / Xiaofeng Wang Wang, Xiaofeng, Eloy Garcia Garcia, Eloy, Zheqing Zhou Zhou, Zheqing, Derek Kingston Kingston, Derek, David Casbeer Casbeer, David 85

4.1 Introduction 85

4.2 Problem Statement 87

4.2.1 Notations 87

4.2.2 Problem Formulation 88

4.3 Projection-Based Consensus Algorithm 89

4.4 Convergence Analysis 91

4.5 Convergence Time 96

4.6 Feasibility 101

4.7 Simulation 104

4.8 Summary 110

References 111

5 Greedy Maximization for Asset-Based Weapon-Target Assignment with Time-Dependent Rewards / Doo-Hyun Cho Cho, Doo-Hyun, Han-Lim Choi Choi, Han-Lim 115

5.1 Introduction 115

5.2 Problem Formulation 117

5.2.1 Problem Variables 119

5.2.2 Constraints 119

5.2.3 Objective Function 120

5.3 Properties of the Objective Function 120

5.3.1 Preliminary-Greedy Algorithm 121

5.3.2 Preliminary-Maximization of Set Function 121

5.3.3 Weapon Target Assignment-Lower Bound with Greedy Algorithm 122

5.4 Algorithmic Details 126

5.4.1 Time Slot Generation 126

5.4.2 Greedy Maximization 127

5.5 Numerical Case Studies 128

5.5.1 Simple TSWTA Example 128

5.5.2 Realistic Interceptor-Ballistic Target Assignment 134

5.6 Conclusion 136

Acknowledgment 136

References 137

6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles / Eloy Garcia Garcia, Eloy, David Casbeer Casbeer, David 141

6.1 Introduction 141

6.2 Problem Statement 144

6.2.1 Preliminaries 144

6.2.2 Mission Description 144

6.3 Decentralized Assignment of Threats 148

6.3.1 Optimal Individual Paths and Selections 148

6.3.2 Decentralized Assignment Algorithm 150

6.4 Assignment Constraints 153

6.4.1 Timing Constraints 154

6.4.2 Coupled Decision Making 158

6.5 Multiple Main Targets 163

6.6 Conclusions 172

References 172

7 Event-Triggered Communication and Control for Multi-Agent Average Consensus / Cameron Nowzari Nowzari, Cameron, Jorge Cortes Cortes, Jorge, George J. Pappos Pappos, George J. 177

7.1 Introduction 177

7.1.1 Organization 178

7.2 Preliminaries 181

7.2.1 Event-Triggered Control of Linear Systems 182

7.3 Problem Statement 185

7.4 Centralized Event-Triggered Control 186

7.5 Decentralized Event-Triggered Control 188

7.6 Decentralized Event-Triggered Communication and Control 192

7.6.1 Directed Graphs 196

7.7 Periodic Event-Triggered Coordination 199

7.8 Conclusions and Future Outlook 201

References 202

Appendix 205

8 Topology Design and Identification for Dynamic Networks / Chuangchuang Sun Sun, Chuangchuang, Ran Dai Dai, Ran 209

8.1 Introduction 209

8.2 Network Topology Design Problems 212

8.2.1 Network Design for Fast Convergence of Consensus Protocol 213

8.2.2 Network Design for Minimum Total Effective Resistance 215

8.2.3 Equivalent Conversion from Cardinality-Constrained Optimization Problems to RCOPs 216

8.3 Network Topology Identification Problems 216

8.3.1 LTI System Identification 216

8.3.2 Formulation of NTIs as QCQPs 219

8.3.3 Equivalent Conversion from QCQPs to RCOPs 220

8.4 Iterative Rank Minimization Approach 221

8.5 Simulation Examples 224

8.5.1 Example for Designing Fast Converging Consensus-based Network 225

8.5.2 Example for Designing Minimum Total Effective Resistance Network 226

8.5.3 Example of NTI with Agent Dynamics Driven by Consensus Protocol 227

8.6 Conclusions 231

References 232

9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective / Yongcan Cao Cao, Yongcan, David Casbeer Casbeer, David, Eloy Garcia Garcia, Eloy, Corey Schumacher Schumacher, Corey 237

9.1 Introduction 237

9.2 Preliminaries 239

9.2.1 Graph Theory Notions 239

9.2.2 Problem Statement 240

9.3 Fixed Interaction Graph 241

9.3.1 Equal Possibility 242

9.3.2 Unequal Possibility 249

9.4 Switching Interaction Graph 253

9.5 Conclusion 262

References 262

10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems / Yue Wang Wang, Yue, Li Wang Wang, Li 265

10.1 Introduction 265

10.2 Problem Formulation 268

10.2.1 Robot Models 268

10.2.2 Sensor Models 270

10.2.3 Communication Strategies 272

10.2.4 State of Awareness Dynamics 273

10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275

10.3.1 Motion Control for Boundary-Tracking UAVs 275

10.3.2 Awareness Coverage Control for Coverage Robots 275

10.3.2.1 Awareness Metric 275

10.3.2.2 Domain Coverage Algorithm 276

10.4 Simulation Results 284

10.5 Conclusion 287

References 287.

Notes:

Includes bibliographical references and index.

Electronic reproduction. Hoboken, N.J. Available via World Wide Web.

Description based on online resource; title from digital title page (viewed on April 28, 2017).

ISBN:

9781119266235

1119266238

9781119266198

111926619X

9781119266211

Publisher Number:

99976780562

Access Restriction:

Restricted for use by site license.