Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control / edited by Zhang Ren, Mengyi Wang, Yongzhao Hua.

Format:

Book

Contributor:

Ren, Zhang, editor.

Wang, Mengyi, editor.

Hua, Yongzhao, editor.

Series:

Lecture Notes in Electrical Engineering, 1876-1119 ; 934

Language:

English

Subjects (All):

Signal processing.

Computational intelligence.

Multiagent systems.

System theory.

Control theory.

Signal, Speech and Image Processing.

Computational Intelligence.

Multiagent Systems.

Systems Theory, Control.

Local Subjects:

Signal, Speech and Image Processing.

Computational Intelligence.

Multiagent Systems.

Systems Theory, Control.

Physical Description:

1 online resource (1902 pages)

Edition:

1st ed. 2023.

Place of Publication:

Singapore : Springer Nature Singapore : Imprint: Springer, 2023.

Summary:

This book includes original, peer-reviewed research papers from the 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC2021), held in Shenzhen, China on January 19-22, 2022. The topics covered include but are not limited to: reviews and discussions of swarm intelligence, basic theories on swarm intelligence, swarm communication and networking, swarm perception, awareness and location, swarm decision and planning, cooperative control, cooperative guidance, swarm simulation and assessment. The papers showcased here share the latest findings on theories, algorithms and applications in swarm intelligence and cooperative control, making the book a valuable asset for researchers, engineers, and university students alike.

Contents:

Intro

Contents

Cooperative Unknown Area Coverage by a Swarm of Agents with Limited Sensing and Identification Capabilities

1 Introduction

2 Statement of the Limited-Sensing Coverage Problem

3 The Multi-agent Sweep Coverage Control Strategy Under Crude Identification

4 Simulation Experiments

5 Conclusions

References

Data-Driven Suboptimal Distributed Consensus Control for Discrete-time Multi-agent Systems with Multiple Objectives

2 Preliminary

3 Data-Driven Suboptimal Multiobjective Distributed Control Algorithm

3.1 Problem Formulation

3.2 Q-function-based Control Policy Construction Approach

3.3 Policy Iteration Based Actor-critic Learning Framework

3.4 Analysis of Convergence and Suboptimality

4 Simulation

5 Conclusion

Overview on Task Allocation Methods for Cooperative Multi-target Attack

2 Task Allocation Project for Cooperative Attack

3 Multi-UAV Cooperative Task Allocation

3.1 Task Allocation Modeling

3.2 Task Allocation Solution

4 Challenges and Prospects

Summary of Path Planning Approaches of Multiple UAVs

2 Multi-UAVs Formation Path Planning Project

3 Multi-UAV Cooperative Path Planning

3.1 Path Planning Modeling

3.2 Path Planning Solution

Compatible Formation of UAVs with Visual Sensing Constraint and Obstacle Avoidance

2 Problem Formulation

2.1 Autonomous Systems

2.2 Visual Sensing Constraint

2.3 Obstacle Model

2.4 Control Objective

3 Controller Design

3.1 Cost Function

3.2 Gradient Decent Like Control Design

A Visual Path Planning Framework Based on Path Search Area

2 Visible Area.

3 Path Search Area

4 Path Planning Framework

4.1 Enumeration Optimization

4.2 Monotonic Genetic Algorithm

5 Simulation Results

6 Conclusion

Structural Design and Gait Planning of Hydraulic Humanoid Biped Robots

1.1 Research Background

1.2 Main Content

2 Structural Design

3 Method

3.1 3d-Lipm

3.2 Hierarchical Control Structure

3.3 Generate the Trajectory

4 Simulation Result

High-order Sliding Mode Formation Control of Multiple Aerial Robotic Vehicle Systems with Time-Varying Disturbances

2.1 Dynamics of ARV

2.2 Formation Constraint

2.3 CCSC Strategy

3 Main Results

4 Numerical Simulation

Prescribed-Time Multi-target Tracking Control for Second-Order Multi-agent Systems

2 Problem Formulation and Preliminaries

2.1 Graph Theory

2.2 Problem Formulation

2.3 Preliminaries

3.1 Prescribed-Time Multi-target Tracking Control Algorithm

3.2 Analysis for Prescribed-Time Multi-target Tracking

4 Simulation Results

Prescribed-Time Time-Varying Formation Control for Multiple USVs

3.1 Design of PTDO

3.2 Controller Design and Stability Analysis

Observer-Based Tracking Control for Linear Switched Multiagent Systems with a Leader of Nonzero Inputs

3.1 Tracking Control with Discontinuous Function v()

3.2 Tracking Control with Continuous Function v()

References.

Consensus Analysis for Nonlinear Multi-agent Systems via Event-Triggered Impulsive Strategy Based on Observer

3.1 Consensus with Leader

3.2 Consensus Without Leader

Large-Scale Multi-robot Collaborative Localization with Relative Observations

3 Cooperative Localization

3.1 Acyclic Graph Case

3.2 Cyclic Graph Case

4 Experiments and Analysis

4.1 Simulation Results of Acyclic Communication Graph

4.2 Simulation Results of Cyclic Communication Graph

Optimal Group Consensus Control for Multi-agent Systems in Coopetition Networks via Dynamic Event-Triggered Methods

2 Preliminaries

2.2 Problems Statement

3.1 Event-Triggered Framework

3.2 Implementation of the ADP Method

3.3 Stability Analysis

Secure Control of Uncertain Multi-agent Systems Under Cyber Attacks

3 Main Result

3.1 Design of Consensus Protocol

3.2 Consensus Analysis

4 An Illustrative Example

Distributed Guidance Strategy with an Appointed Cooperative Time over Directed Network

2 Cooperative Guidance Strategy Design

2.1 Dynamics Model

2.2 Interaction Model

2.3 Strategy Description

3 Convergence Result Analysis

Stability Analysis of Distributed Optimization for Multi-agent Systems Under Time-Varying Digraphs

2.1 Hybrid Systems

2.2 Graph Theory

2.3 Convex Analysis

2.4 Problem Formulation

3 Distributed Coordination Protocol over Time-Varying Topologies.

4 Convergence Analysis

5 Simulations

6 Conclusions

Distributed Attitude Coordinated Control for Spacecraft Formation Flying with Unknown Disturbances Via Sliding Mode Control

2.1 Notations

2.3 Spacecraft Mathematical Model

A Hardware-in-the-Loop Simulation Platform for UAV Swarm Decision-Making

2 Construction of HIL Simulation Platform for UAV Swarm

2.1 Swarm Decision-Making Module

2.2 Multi-UAV Communication Module

3 HIL Simulation Test of Multi-UAV

3.1 Alignment

3.2 Cohesion

3.3 Separation

4 Conclusion

Online Task Assignment Method of Multi-aircraft Based on Decreasing Pheromone Ant Colony Algorithm

2 Problem Modeling

2.1 Constraint Model

2.2 Evaluation Index Model

3 Online Task Assignment Algorithm

3.1 Algorithm Ideas

3.2 Selection Strategy Based on Roulette

3.3 Update Method of Pheromone Decrement

3.4 Algorithm Process

4 Simulation Analysis

IMFlySim: A High-Fidelity Simulation Platform for UAV Swarms

2 Architecture of IMFlySim

2.1 Single-Node Structure

2.2 Multi-node Simulation

3 Experiments

3.1 Flight Experiments

3.2 Formation Experiments

4 Conclusion and Future Work

Task Allocation of Multi-robot Coalition Formation

2 Modeling of Resource Constrained Multi-robot System

2.1 Resource Modeling

2.2 Robot Modeling

2.3 Task Modeling

2.4 Priority Modeling

2.5 Utility Modeling

3 Coalition Formation Algorithm

3.1 Determining Task Priority (Line 2)

3.2 Selecting Qualified Robots (Lines 3-8).

3.3 Finding the Robots with the Highest Utility (Lines 10-18)

3.4 Forming the Coalition of Robots (Lines 22-23)

3.5 Controlling Cycle Conditions (Lines 24-30)

4 Simulations

Trajectory Recognition of Unmanned Aerial Vehicles Based on LSTM Network

2 UAVs' Standard Trajectories

3 LSTM Network

4 Experiments

MADDPG: Multi-agent Deep Deterministic Policy Gradient Algorithm for Formation Elliptical Encirclement and Collision Avoidance

3 The Proposed Approach

3.1 Reinforcement Learning Environment

3.2 Structure of Neural Networks

3.3 Reward Design

4 Experimental Results and Analysis

4.1 Case I: Formation Elliptical Encirclement with a Moving Target

4.2 Case II: Formation Circular Encirclement with a Moving Target and Landmarks

5 Conclusion and Future Work

Dynamic Evasive Strategy of UAV Swarm Active Interception

2 Scene Design and Problem Formulation

3 UAV Evasive Strategy Based on Speed Obstacle Method

3.1 Speed Obstacle Method

3.2 Attacker's Avoidance of Dynamic Obstacles

3.3 Algorithm

4 The Simulation Results

A Kind of Obstacle Avoidance Method for UAV Swarm

2 Notation and Preliminaries

2.2 UAV Motion Model

3 Swarm Obstacle Avoidance Method

3.1 Alliance Formation

3.2 Design of Obstacle Avoidance Method

3.3 Design of Control Law

4 Simulation Verification and Analysis

UAV Target Detection Algorithm Based on Improved YOLOv4

1 UAV Target Detection Based on YOLOv4

1.1 YOLOv4 Algorithm

1.2 UAV Dataset

1.3 Evaluation Index

2 Improvement of UAV Detection Algorithm Based on YOLOv4.

2.1 Anchor Template Learning Based on K-means++ Clustering.

Other Format:

Print version: Ren, Zhang Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control

ISBN:

981-19-3998-5