scholarly journals Angle Rigidity Graph Theory and Multi-agent Formations

2021 ◽  
Author(s):  
◽  
Liangming Chen
Keyword(s):  
Graph Theory ◽  
Multi Agent

Fast Finite-Time Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 596 ◽  
pp. 552-559 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
First Order ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing first-order multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that first-order multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Furthermore, theoretical analysis and numerical simulations show that compared with the traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of achieving the finite-time consensus tracking.

Consensus for discrete-time heterogeneous networked systems consisting of third-order and first-order agents under fixed and switching topologies

2017 ◽  
Vol 40 (9) ◽  
pp. 2748-2755 ◽  
Author(s):  
Huanyu Zhao ◽  
Shumin Fei
Keyword(s):  
System Theory ◽  
Graph Theory ◽  
Sufficient Condition ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Algebraic Graph Theory ◽  
Third Order ◽  
Agent Systems ◽  
First Order ◽  
Multi Agent

This paper investigates the consensus problem for heterogeneous multi-agent systems consisting of third-order and first-order agents. The interaction topology includes both fixed and switching cases. First, by a model transformation, heterogeneous multi-agent systems are converted into equivalent error systems. Then we analyze the consensus problem of the multi-agent systems by analyzing the stability problem of the error systems. For a fixed topology, a sufficient condition for consensus of heterogeneous multi-agent systems is obtained based on algebraic graph theory and linear system theory. For a switching topology, a necessary and sufficient condition for mean-square consensus of multi-agent systems is obtained based on algebraic graph theory and Markovian jump system theory. Finally, we give some simulation examples.

Adaptive Swarm Coordination and Formation Control

2020 ◽  
pp. 2041-2075
Author(s):  
Samet Guler ◽  
Baris Fidan ◽  
Veysel Gazi
Keyword(s):  
Adaptive Control ◽  
Graph Theory ◽  
Control Theory ◽  
Formation Control ◽  
The Other ◽  
System Behavior ◽  
Swarm Dynamics ◽  
Multi Agent ◽  
Control Designs ◽  
Swarm Coordination

Swarm coordination and formation control designs focus on multi-agent dynamic system behavior and aim to achieve desired coordinated behavior or predefined geometric shape. They utilize techniques from the control theory and graph theory literature. On the other hand, adaptive control theory is concerned with uncertainties in the system dynamics, and has structured frameworks for various types of plant models. Therefore, in case there are uncertainties in the swarm dynamics, adaptive control methodologies can be utilized to achieve the desired coordinated behavior and there exist remarkable works in this direction. However, connection among swarm coordination, formation control, and adaptive control theory brings some restrictions as well as advantages. Hence adaptive swarm coordination and formation control has been developed in limited aspects. In this chapter, we review some existing works of the adaptive formation control literature along with non-adaptive ones, and discuss the advantages of application of adaptive control frameworks to swarm coordination and formation control.

scholarly journals Design of the Multi-Agent Robot Group Formation Based on Pilot Followers

2016 ◽  
Vol 9 (1) ◽  
pp. 70
Author(s):  
Haiyang Zou
Keyword(s):  
Graph Theory ◽  
Control Strategy ◽  
Formation Control ◽  
Ant Colony Algorithm ◽  
Group Formation ◽  
Font Size ◽  
Structured Design ◽  
Multi Agent ◽  
Scale Design ◽  
Robot Group

<span style="font-size: 10.5pt; font-family: 'Times New Roman','serif'; mso-bidi-font-size: 10.0pt; mso-fareast-font-family: 宋体; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA;" lang="EN-US">Some animals always keep a certain formation in flight, it plays a good role for the defense of animal predators, avoid falling behind, avoid obstacles and other aspects. Based on the the design of pilot follows formation way, this topic from the characteristics of bionics, which makes the robot population to maintain a certain formation, they complete the relatively complex tasks through mutual coordination, division and cooperation.We adopt asymmetric formation control strategy and introduce the graph theory in the topic, it has good theoretical and practical guiding significance about the application of robot in real.In the formation of scale design, We adopt hypercube structured design concept, and ant colony algorithm of sub-cube for hypercube secondary division, multi-agent robot groups has better results in all aspects of the expansion, fault tolerance and transaction complexity.</span>

Fast Finite-Time Consensus Tracking of Heterogeneous Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 687-691 ◽  
pp. 580-586 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Lyapunov Function ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing heterogeneous multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that heterogeneous multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Numerical simulations indicate that compared with traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of the finite-time consensus tracking.

Autonomous trust construction in multi-agent systems—a graph theory methodology

2005 ◽  
Vol 36 (2) ◽  
pp. 59-66 ◽  
Author(s):  
Y.C. Jiang ◽  
Z.Y. Xia ◽  
Y.P. Zhong ◽  
S.Y. Zhang
Keyword(s):  
Graph Theory ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent

Research on Self-Healing Method of Multi-Agent Collaboration Fiber Optic Sensor Network Based on Optical Switch and Graph Theory

2014 ◽  
Vol 34 (12) ◽  
pp. 1206002
Author(s):  
曾田 Zeng Tian ◽  
梁大开 Liang Dakai ◽  
曾捷 Zeng Jie ◽  
张晓丽 Zhang Xiaoli ◽  
孟静 Meng Jing
Keyword(s):  
Graph Theory ◽  
Sensor Network ◽  
Fiber Optic ◽  
Optical Switch ◽  
Fiber Optic Sensor ◽  
Self Healing ◽  
Optic Sensor ◽  
Agent Collaboration ◽  
Multi Agent

scholarly journals Collective Motion and Self-Organization of a Swarm of UAVs: A Cluster-Based Architecture

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3820
Author(s):  
Zain Anwar Ali ◽  
Zhangang Han ◽  
Rana Javed Masood
Keyword(s):  
Graph Theory ◽  
Collective Motion ◽  
Optimal Path ◽  
Dynamic Environment ◽  
Self Organization ◽  
Nsga Ii ◽  
Multi Agent ◽  
The Individual ◽  
Multiple Clusters ◽  
Leader Selection

This study proposes a collective motion and self-organization control of a swarm of 10 UAVs, which are divided into two clusters of five agents each. A cluster is a group of UAVs in a dedicated area and multiple clusters make a swarm. This paper designs the 3D model of the whole environment by applying graph theory. To address the aforesaid issues, this paper designs a hybrid meta-heuristic algorithm by merging the particle swarm optimization (PSO) with the multi-agent system (MAS). First, PSO only provides the best agents of a cluster. Afterward, MAS helps to assign the best agent as the leader of the nth cluster. Moreover, the leader can find the optimal path for each cluster. Initially, each cluster contains agents at random positions. Later, the clusters form a formation by implementing PSO with the MAS model. This helps in coordinating the agents inside the nth cluster. However, when two clusters combine and make a swarm in a dynamic environment, MAS alone is not able to fill the communication gap of n clusters. This study does it by applying the Vicsek-based MAS connectivity and synchronization model along with dynamic leader selection ability. Moreover, this research uses a B-spline curve based on simple waypoint defined graph theory to create the flying formations of each cluster and the swarm. Lastly, this article compares the designed algorithm with the NSGA-II model to show that the proposed model has better convergence and durability, both in the individual clusters and inside the greater swarm.

Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

2014 ◽  
Author(s):  
Xiaoyu Cai ◽  
Marcio de Queiroz
Keyword(s):  
Graph Theory ◽  
Formation Control ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Simulation Results ◽  
Error Dynamics ◽  
Integrator Model ◽  
Dynamic Formation

In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.

Sign in / Sign up

Export Citation Format

Share Document