scholarly journals Formation Control Algorithm of Agents Based on Earth Mover’s Distance

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Bangquan Liu ◽  
Shaojun Zhu ◽  
Dechao Sun ◽  
Yun Meng ◽  
Guangyu Zhou ◽  
...  
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Group Formation ◽  
Voronoi Tessellation ◽  
Motion Path ◽  
Earth Mover’S Distance ◽  
Vehicle Performance ◽  
Earth Mover's Distance ◽  
Efficient Calculation ◽  
Aerial Vehicle

Massive sport, such as unmanned aerial vehicle performance, often needs fast and efficient calculation of formation morphing and individual path planning. This paper introduces a novel fast formation control method of a crowd. First, we get the agents’ location in a 2D polygon with centroidal Voronoi tessellation and L-BFGS techniques. Then, we transform crowd formation shapes with a global shortest motion path pair assignment using earth mover’s distance algorithm. Finally, the repulsing force between agents and obstacles is calculated based on the recursive velocity observer method control agents’ motion. Extensive experimental results show the effectiveness and usefulness of our algorithm in 2D group formation transformation.

Pigeon-Inspired Circular Formation Control for Multi-UAV System with Limited Target Information

2021 ◽  
Vol 01 (01) ◽  
pp. 2150004
Author(s):  
Mengzhen Huo ◽  
Haibin Duan ◽  
Yanming Fan
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Control Strategies ◽  
Angular Speed ◽  
Angular Distance ◽  
Lyapunov Theory ◽  
Target Information ◽  
Circular Distribution ◽  
Type Method ◽  
Aerial Vehicle

The problem of cooperative circular formation with limited target information for multiple Unmanned Aerial Vehicle (UAV) system is addressed in this paper. A pigeon-inspired circular formation control method is proposed to form the desired circular distribution in a plane based on the intelligent pigeon behavior during hovering. To reach the goal of prescribed radius and angular distribution, the controller is designed consisting of a circular movement part and a formation distribution part. Therein, the circular movement part is designed to make each UAV rotate around the specified circle at the same angular speed only using the relative position between the UAV and the target. The formation distribution part could adjust the angular distance between each UAV and its neighbors with the jointly connected network to reduce communication cost. To smooth the speed variation, nonlinear PID-type method is delivered throughout the evolution of the system. The convergence analysis of the proposed control protocol is presented using Lyapunov theory and graph tools. The effectiveness of the proposed control strategies is demonstrated through numerical simulations.

The Earth Mover’s Distance as a Metric for the Space of Inorganic Compositions

2020 ◽  
Author(s):  
Cameron Hargreaves ◽  
Matthew Dyer ◽  
Michael Gaultois ◽  
Vitaliy Kurlin ◽  
Matthew J Rosseinsky
Keyword(s):  
Euclidean Distance ◽  
Nearest Neighbor ◽  
Nearest Neighbor Search ◽  
Inorganic Crystal Structure Database ◽  
Earth Mover’S Distance ◽  
Chemical Similarity ◽  
Earth Mover's Distance ◽  
Neighbor Search ◽  
The Earth ◽  
Binary Compounds

It is a core problem in any field to reliably tell how close two objects are to being the same, and once this relation has been established we can use this information to precisely quantify potential relationships, both analytically and with machine learning (ML). For inorganic solids, the chemical composition is a fundamental descriptor, which can be represented by assigning the ratio of each element in the material to a vector. These vectors are a convenient mathematical data structure for measuring similarity, but unfortunately, the standard metric (the Euclidean distance) gives little to no variance in the resultant distances between chemically dissimilar compositions. We present the Earth Mover’s Distance (EMD) for inorganic compositions, a well-defined metric which enables the measure of chemical similarity in an explainable fashion. We compute the EMD between two compositions from the ratio of each of the elements and the absolute distance between the elements on the modified Pettifor scale. This simple metric shows clear strength at distinguishing compounds and is efficient to compute in practice. The resultant distances have greater alignment with chemical understanding than the Euclidean distance, which is demonstrated on the binary compositions of the Inorganic Crystal Structure Database (ICSD). The EMD is a reliable numeric measure of chemical similarity that can be incorporated into automated workflows for a range of ML techniques. We have found that with no supervision the use of this metric gives a distinct partitioning of binary compounds into clear trends and families of chemical property, with future applications for nearest neighbor search queries in chemical database retrieval systems and supervised ML techniques.

scholarly journals Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

2021 ◽  
Vol 9 (7) ◽  
pp. 772
Author(s):  
Huixuan Fu ◽  
Shichuan Wang ◽  
Yan Ji ◽  
Yuchao Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Tracking Error ◽  
External Environment ◽  
Control Force ◽  
Extended State ◽  
Parameter Perturbation ◽  
State Observation ◽  
Saturation Constraint ◽  
The Stability

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

scholarly journals The New Evolution for SIA Rotorcraft UAV Project

2010 ◽  
Vol 2010 ◽  
pp. 1-9 ◽  
Author(s):  
Juntong Qi ◽  
Dalei Song ◽  
Lei Dai ◽  
Jianda Han ◽  
Yuechao Wang
Keyword(s):  
Control Method ◽  
Test Bed ◽  
Advanced Control ◽  
Autonomous Mode ◽  
Chinese Academy Of Sciences ◽  
Aerial Vehicle ◽  
Active Modeling ◽  
Rotorcraft Uav ◽  
The One ◽  
Academy Of Sciences

This paper describes recent research on the design, implement, and testing of a new small-scaled rotorcraft Unmanned Aerial Vehicle (RUAV) system—ServoHeli-40. A turbine-powered UAV weighted less than 15 kg was designed, and its major components were tested at the Shenyang Institute of Automation, Chinese Academy of Sciences in Shenyang, China. The aircraft was designed to reach a top speed of more than 20 mps, flying a distance of more than 10 kilometers, and it is going to be used as a test-bed for experimentally evaluating advanced control methodologies dedicated on improving the maneuverability, reliability, as well as autonomy of RUAV. Sensors and controller are all onboard. The full system has been tested successfully in the autonomous mode using the multichannel active modeling controller. The results show that in a real windy environment the rotorcraft UAV can follow the trajectory which was assigned by the ground control station exactly, and the new control method is obviously more effective than the one in the past year's research.

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