Cooperative Control of Multi-Agent Systems
-15%
portes grátis
Cooperative Control of Multi-Agent Systems
Theory and Applications
Casbeer, David; Zhang, Fumin; Wang, Yue; Garcia, Eloy
John Wiley & Sons Inc
05/2017
320
Dura
Inglês
9781119266129
15 a 20 dias
466
Descrição não disponível.
List of Contributors xiii
Preface xvii
Acknowledgment xix
1 Introduction 1
YueWang, Eloy Garcia, David Casbeer and Fumin Zhang
1.1 Introduction 1
1.2 Chapter Summary and Contributions 11
2 Sensor Placement Algorithms for a Path Covering Problem 31
Sivakumar Rathinam and Rajnikant Sharma
2.1 Problem Statement 34
2.2 Algorithm Approx1 35
2.3 Algorithm Approx2 42
2.4 Numerical Results 46
2.5 Conclusions 48
3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE 51
Steven A. P. Quintero, David A. Copp, and Joao P. Hespanha
3.1 Vision-Based Target Tracking 53
3.2 Problem Formulation 58
3.3 Robust Output-Feedback MPC/MHE 64
3.4 Simulation Results 67
3.5 Conclusion and FutureWork 79
4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints 85
XiaofengWang, Eloy Garcia, Zheqing Zhou, Derek Kingston and David Casbeer
4.1 Introduction 85
4.2 Problem Statement 87
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
5 GreedyMaximization for Asset-Based Weapon-Target Assignment with Time-Dependent Rewards 115
Doo-Hyun Cho and Han-Lim Choi
5.1 Introduction 115
5.2 Problem Formulation 117
5.3 Properties of the Objective Function 120
5.4 Algorithmic Details 126
5.5 Numerical Case Studies 128
6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles 141
Eloy Garcia and David Casbeer
6.1 Introduction 141
6.2 Problem Statement 144
6.3 Decentralized Assignment of Threats 148
6.4 Assignment Constraints 153
6.5 Multiple Main Targets 163
6.6 Conclusions 172
7 Event-Triggered Communication and Control for Multi-Agent Average Consensus 177
Cameron Nowzari, Jorge Cortes and George J. Pappas
7.1 Introduction 177
7.2 Preliminaries 181
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
7.7 Periodic Event-Triggered Coordination 199
7.8 Conclusions and Future Outlook 201
8 Topology Design and Identification for Dynamic Networks 209
Chuangchuang Sun and Ran Dai
8.1 Introduction 209
8.2 Network Topology Design Problems 212
8.3 Network Topology Identification Problems 216
8.4 Iterative Rank Minimization Approach 221
8.5 Simulation Examples 224
8.6 Conclusions 231
9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective 237
Yongcan Cao, David Casbeer, Eloy Garcia and Corey Schumacher
9.1 Introduction 237
9.2 Preliminaries 239
9.3 Fixed Interaction Graph 241
9.4 Switching Interaction Graph 253
10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems 265
YueWang and LiWang
10.1 Introduction 265
10.2 Problem Formulation 268
10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275
10.4 Simulation Results 284
Index 291
Preface xvii
Acknowledgment xix
1 Introduction 1
YueWang, Eloy Garcia, David Casbeer and Fumin Zhang
1.1 Introduction 1
1.2 Chapter Summary and Contributions 11
2 Sensor Placement Algorithms for a Path Covering Problem 31
Sivakumar Rathinam and Rajnikant Sharma
2.1 Problem Statement 34
2.2 Algorithm Approx1 35
2.3 Algorithm Approx2 42
2.4 Numerical Results 46
2.5 Conclusions 48
3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE 51
Steven A. P. Quintero, David A. Copp, and Joao P. Hespanha
3.1 Vision-Based Target Tracking 53
3.2 Problem Formulation 58
3.3 Robust Output-Feedback MPC/MHE 64
3.4 Simulation Results 67
3.5 Conclusion and FutureWork 79
4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints 85
XiaofengWang, Eloy Garcia, Zheqing Zhou, Derek Kingston and David Casbeer
4.1 Introduction 85
4.2 Problem Statement 87
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
5 GreedyMaximization for Asset-Based Weapon-Target Assignment with Time-Dependent Rewards 115
Doo-Hyun Cho and Han-Lim Choi
5.1 Introduction 115
5.2 Problem Formulation 117
5.3 Properties of the Objective Function 120
5.4 Algorithmic Details 126
5.5 Numerical Case Studies 128
6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles 141
Eloy Garcia and David Casbeer
6.1 Introduction 141
6.2 Problem Statement 144
6.3 Decentralized Assignment of Threats 148
6.4 Assignment Constraints 153
6.5 Multiple Main Targets 163
6.6 Conclusions 172
7 Event-Triggered Communication and Control for Multi-Agent Average Consensus 177
Cameron Nowzari, Jorge Cortes and George J. Pappas
7.1 Introduction 177
7.2 Preliminaries 181
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
7.7 Periodic Event-Triggered Coordination 199
7.8 Conclusions and Future Outlook 201
8 Topology Design and Identification for Dynamic Networks 209
Chuangchuang Sun and Ran Dai
8.1 Introduction 209
8.2 Network Topology Design Problems 212
8.3 Network Topology Identification Problems 216
8.4 Iterative Rank Minimization Approach 221
8.5 Simulation Examples 224
8.6 Conclusions 231
9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective 237
Yongcan Cao, David Casbeer, Eloy Garcia and Corey Schumacher
9.1 Introduction 237
9.2 Preliminaries 239
9.3 Fixed Interaction Graph 241
9.4 Switching Interaction Graph 253
10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems 265
YueWang and LiWang
10.1 Introduction 265
10.2 Problem Formulation 268
10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275
10.4 Simulation Results 284
Index 291
Este título pertence ao(s) assunto(s) indicados(s). Para ver outros títulos clique no assunto desejado.
<p>control systems; cooperative control theory; cooperative control applications; multi-agent systems; multi-agent control systems; system control algorithms; multi-agent systems control examples; multi-agent systems control for unmanned vehicles; cooperative control of multi-agent systems; decision-making for multi-agent systems; robust control of networked systems; cooperative missile guidance; multi-agent systems control for aerospace; multi-agent systems control defense applications; multi-agent systems control maritime applications; control of autonomous UAVs; control of autonomous UGVs; control of autonomous unmanned aerial vehicles; control of unmanned ground vehicles; high-level decision making and planning for autonomous unmanned vehicles; mobile sensor networks; maritime robotics; cyber-physical systems theory; distributed coordination of multi-agent networks; cooperative decision and control for unmanned vehicles</p>
List of Contributors xiii
Preface xvii
Acknowledgment xix
1 Introduction 1
YueWang, Eloy Garcia, David Casbeer and Fumin Zhang
1.1 Introduction 1
1.2 Chapter Summary and Contributions 11
2 Sensor Placement Algorithms for a Path Covering Problem 31
Sivakumar Rathinam and Rajnikant Sharma
2.1 Problem Statement 34
2.2 Algorithm Approx1 35
2.3 Algorithm Approx2 42
2.4 Numerical Results 46
2.5 Conclusions 48
3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE 51
Steven A. P. Quintero, David A. Copp, and Joao P. Hespanha
3.1 Vision-Based Target Tracking 53
3.2 Problem Formulation 58
3.3 Robust Output-Feedback MPC/MHE 64
3.4 Simulation Results 67
3.5 Conclusion and FutureWork 79
4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints 85
XiaofengWang, Eloy Garcia, Zheqing Zhou, Derek Kingston and David Casbeer
4.1 Introduction 85
4.2 Problem Statement 87
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
5 GreedyMaximization for Asset-Based Weapon-Target Assignment with Time-Dependent Rewards 115
Doo-Hyun Cho and Han-Lim Choi
5.1 Introduction 115
5.2 Problem Formulation 117
5.3 Properties of the Objective Function 120
5.4 Algorithmic Details 126
5.5 Numerical Case Studies 128
6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles 141
Eloy Garcia and David Casbeer
6.1 Introduction 141
6.2 Problem Statement 144
6.3 Decentralized Assignment of Threats 148
6.4 Assignment Constraints 153
6.5 Multiple Main Targets 163
6.6 Conclusions 172
7 Event-Triggered Communication and Control for Multi-Agent Average Consensus 177
Cameron Nowzari, Jorge Cortes and George J. Pappas
7.1 Introduction 177
7.2 Preliminaries 181
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
7.7 Periodic Event-Triggered Coordination 199
7.8 Conclusions and Future Outlook 201
8 Topology Design and Identification for Dynamic Networks 209
Chuangchuang Sun and Ran Dai
8.1 Introduction 209
8.2 Network Topology Design Problems 212
8.3 Network Topology Identification Problems 216
8.4 Iterative Rank Minimization Approach 221
8.5 Simulation Examples 224
8.6 Conclusions 231
9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective 237
Yongcan Cao, David Casbeer, Eloy Garcia and Corey Schumacher
9.1 Introduction 237
9.2 Preliminaries 239
9.3 Fixed Interaction Graph 241
9.4 Switching Interaction Graph 253
10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems 265
YueWang and LiWang
10.1 Introduction 265
10.2 Problem Formulation 268
10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275
10.4 Simulation Results 284
Index 291
Preface xvii
Acknowledgment xix
1 Introduction 1
YueWang, Eloy Garcia, David Casbeer and Fumin Zhang
1.1 Introduction 1
1.2 Chapter Summary and Contributions 11
2 Sensor Placement Algorithms for a Path Covering Problem 31
Sivakumar Rathinam and Rajnikant Sharma
2.1 Problem Statement 34
2.2 Algorithm Approx1 35
2.3 Algorithm Approx2 42
2.4 Numerical Results 46
2.5 Conclusions 48
3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE 51
Steven A. P. Quintero, David A. Copp, and Joao P. Hespanha
3.1 Vision-Based Target Tracking 53
3.2 Problem Formulation 58
3.3 Robust Output-Feedback MPC/MHE 64
3.4 Simulation Results 67
3.5 Conclusion and FutureWork 79
4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints 85
XiaofengWang, Eloy Garcia, Zheqing Zhou, Derek Kingston and David Casbeer
4.1 Introduction 85
4.2 Problem Statement 87
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
5 GreedyMaximization for Asset-Based Weapon-Target Assignment with Time-Dependent Rewards 115
Doo-Hyun Cho and Han-Lim Choi
5.1 Introduction 115
5.2 Problem Formulation 117
5.3 Properties of the Objective Function 120
5.4 Algorithmic Details 126
5.5 Numerical Case Studies 128
6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles 141
Eloy Garcia and David Casbeer
6.1 Introduction 141
6.2 Problem Statement 144
6.3 Decentralized Assignment of Threats 148
6.4 Assignment Constraints 153
6.5 Multiple Main Targets 163
6.6 Conclusions 172
7 Event-Triggered Communication and Control for Multi-Agent Average Consensus 177
Cameron Nowzari, Jorge Cortes and George J. Pappas
7.1 Introduction 177
7.2 Preliminaries 181
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
7.7 Periodic Event-Triggered Coordination 199
7.8 Conclusions and Future Outlook 201
8 Topology Design and Identification for Dynamic Networks 209
Chuangchuang Sun and Ran Dai
8.1 Introduction 209
8.2 Network Topology Design Problems 212
8.3 Network Topology Identification Problems 216
8.4 Iterative Rank Minimization Approach 221
8.5 Simulation Examples 224
8.6 Conclusions 231
9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective 237
Yongcan Cao, David Casbeer, Eloy Garcia and Corey Schumacher
9.1 Introduction 237
9.2 Preliminaries 239
9.3 Fixed Interaction Graph 241
9.4 Switching Interaction Graph 253
10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems 265
YueWang and LiWang
10.1 Introduction 265
10.2 Problem Formulation 268
10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275
10.4 Simulation Results 284
Index 291
Este título pertence ao(s) assunto(s) indicados(s). Para ver outros títulos clique no assunto desejado.
<p>control systems; cooperative control theory; cooperative control applications; multi-agent systems; multi-agent control systems; system control algorithms; multi-agent systems control examples; multi-agent systems control for unmanned vehicles; cooperative control of multi-agent systems; decision-making for multi-agent systems; robust control of networked systems; cooperative missile guidance; multi-agent systems control for aerospace; multi-agent systems control defense applications; multi-agent systems control maritime applications; control of autonomous UAVs; control of autonomous UGVs; control of autonomous unmanned aerial vehicles; control of unmanned ground vehicles; high-level decision making and planning for autonomous unmanned vehicles; mobile sensor networks; maritime robotics; cyber-physical systems theory; distributed coordination of multi-agent networks; cooperative decision and control for unmanned vehicles</p>
