Multiagent Flocking With Angle-Based Formation Shape Control

Jing, Gangshan; Wang, Long

doi:10.1109/tac.2019.2917143

Cited by 52 publications

(24 citation statements)

References 23 publications

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“…Then, from the definition of F ind (T ) in (35), v −1 (0) = T holds, and from Lemma 7, v(x N ) is decomposable as (40) with non-negative functions v k (x C k ), which lead to…”

Section: Proofs Of Theorems a Proof Of The Necessity Of Theoremmentioning

confidence: 99%

“…Note that not all papers necessarily obey Table I. For example, for angle-based coordination (v) prescribing angle constraints (T), relative bearings of neighbors (M) are essentially required as [33], but relative positions (M) are used in [34], [35].…”

Section: Introductionmentioning

confidence: 99%

“…d . From v(x N ) ∈ F ind (T ), defined in(35), and the decomposed form (60),0 = w 1 (x N \{i} ) + w 2 (x N \{j} ) is obtained. Therefore, w 1 (x N \{i} ) = w 2 (x N \{j} ) = 0 holds from their nonnegativeness.…”

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confidence: 99%

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Unified Formulation of Multiagent Coordination With Relative Measurements

Sakurama

2021

IEEE Trans. Automat. Contr.

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This paper provides a unified solution to a general coordination problem of multi-agent systems with relative measurements, including uncertain transformations in translation, rotation, reflection, and scale. First, we introduce relative measurements described by a matrix group expressing such transformations in a unified way. Then, we derive a necessary and sufficient condition to achieve a coordination task by relative, distributed control according to a network topology and a class of measurement information. Especially, a strict class of all realizable coordination tasks is characterized with an orbit associated with the transformation matrix group on measurement. Next, we show that the network topology required to coordination is the clique rigidity. Then, the clique rigidity for concrete coordination tasks is associated with conventional connectivity, e.g., connectedness and rigidity. Moreover, an intuitive condition is derived as a connectivity condition of the intersection graph of the maximal cliques (i.e., complete subgraphs). Finally, the new method is applied to formation control with unknown, heterogeneous scale factors and its effectiveness is demonstrated through simulations for both 2-and 3-dimensional spaces.

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“…Then, from the definition of F ind (T ) in (35), v −1 (0) = T holds, and from Lemma 7, v(x N ) is decomposable as (40) with non-negative functions v k (x C k ), which lead to…”

Section: Proofs Of Theorems a Proof Of The Necessity Of Theoremmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Unified Formulation of Multiagent Coordination With Relative Measurements

Sakurama

2021

IEEE Trans. Automat. Contr.

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“…In order to improve the hitting accuracy and enlarge the defense area, the cooperative combat system using multiple flight vehicles (MFVs) has been a research focus in recent years. The cooperative combat system can be applied in a variety of fields, including cooperative path planning [1], formation control [2], cooperative guidance [3], multiple sensor and data fusion [4], etc. Formation control is the key technology in cooperative attack, which plays an important role in the cooperative combat.…”

Section: Introductionmentioning

confidence: 99%

Finite-time control of formation system for multiple flight vehicles subject to actuator saturation

Zhao

Zhong

Zhen

2020

J. of Syst. Eng. Electron.

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This paper investigates the problem of formation tracking control for multiple flight vehicle (MFV) system considering actuator saturation constraints. First, the formation tracking control model is established. Then, the problem of formation control of the MFV system is converted to the convergence of a dynamical system, which is obtained by using the differential geometry theory. A class of saturation functions is introduced, and on this basis a second-order finite-time formation control protocol is developed. With the help of the homogeneous theory and Lasalle's invariance principle, it is theoretically proved that the designed formation protocol could complete the formation task in finite time, and the control inputs are shown to remain within their available actuating limits. Finally, simulations are performed to verify the effectiveness of the scheme.

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“…In this paper, we propose the concept of angle fixability based on angle rigidity theory in [19], [23] to characterize the property of a network that can be determined by angles uniquely up to translations, rotations, scalings and reflections. By establishing connections between angle fixability and angle localizability, the results on angle fixability are applied to ASNL problems.…”

Section: Introductionmentioning

confidence: 99%

Angle Fixability and Angle-Based Sensor Network Localization

Jing

Wan

Dai

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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This paper studies angle-based sensor network localization (ASNL) in a plane, which is to determine locations of all sensors in a sensor network, given locations of partial sensors (called anchors) and angle constraints based on bearings measured in the local coordinate frame of each sensor. We firstly show that a framework with a non-degenerate bilateration ordering must be angle fixable, which implies that it can be uniquely determined by angles between edges up to translation, rotation, scaling, and reflection. Then we prove that an ASNL problem has a unique solution if and only if its grounded framework is angle fixable and anchors are not all collinear. Subsequently, ASNL is solved under centralized and distributed approaches, respectively. The noise-free centralized ASNL is formulated as a rank-constrained optimization problem, and shown to be equivalent to a linear semi-definite program (SDP) when the grounded framework is acute-triangulated. In order to deal with large and sparse ASNL, a decomposition strategy is proposed to recast the centralized ASNL as an SDP with semi-definite constraints on multiple submatrices in reduced sizes. The centralized ASNL considering noise is investigated via a maximum likelihood formulation, which can be formulated as a rank-constrained SDP with multiple semi-definite constraints. A distributed protocol based on inter-sensor communications is also proposed, which solves ASNL in finite time when the grounded framework has a non-degenerate bilateration ordering. Finally, simulation examples are provided to validate effectiveness of our theoretical analysis.

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Multiagent Flocking With Angle-Based Formation Shape Control

Cited by 52 publications

References 23 publications

Unified Formulation of Multiagent Coordination With Relative Measurements

Unified Formulation of Multiagent Coordination With Relative Measurements

Finite-time control of formation system for multiple flight vehicles subject to actuator saturation

Angle Fixability and Angle-Based Sensor Network Localization

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