Two-agent connectivity maintenance and collision avoidance under two relationships

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2024-09-30 DOI:10.1016/j.automatica.2024.111959

Bofan Wu , Zhaoxia Peng , Guoguang Wen , Shichun Yang , Xiaoqin Zhai , Tingwen Huang

{"title":"Two-agent connectivity maintenance and collision avoidance under two relationships","authors":"Bofan Wu , Zhaoxia Peng , Guoguang Wen , Shichun Yang , Xiaoqin Zhai , Tingwen Huang","doi":"10.1016/j.automatica.2024.111959","DOIUrl":null,"url":null,"abstract":"<div><div>In this paper, we study a two-agent tracking problem with the connectivity maintenance and collision avoidance requirements (CM–CARs) under two relationships. One is the leader–follower relationship, where the leader just focuses on its tracking goal, but the follower still needs to ensure the CM–CARs for the leader. Since the feasible space of the follower is a nonconvex ring, it is inconvenient to search for a feasible control directly. Thus, we split the original nonconvex region and search for a convex one by a homeomorphism mapping. Under the leader–follower relationship, a control scheme is proposed for the follower in the original feasible region. It is transformed from a control protocol that ensures the follower satisfies the CM–CARs in the mapping convex region. The other is the colleague relationship, where two agents both need to satisfy the CM–CARs and their control strategies are interactive. Thus, we propose an optimization-based strategy to achieve the tracking mission for the two-agent system, which satisfies the CM–CARs. Finally, we provide some simulation results to verify the proposed strategies.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111959"},"PeriodicalIF":4.8000,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automatica","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0005109824004539","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

In this paper, we study a two-agent tracking problem with the connectivity maintenance and collision avoidance requirements (CM–CARs) under two relationships. One is the leader–follower relationship, where the leader just focuses on its tracking goal, but the follower still needs to ensure the CM–CARs for the leader. Since the feasible space of the follower is a nonconvex ring, it is inconvenient to search for a feasible control directly. Thus, we split the original nonconvex region and search for a convex one by a homeomorphism mapping. Under the leader–follower relationship, a control scheme is proposed for the follower in the original feasible region. It is transformed from a control protocol that ensures the follower satisfies the CM–CARs in the mapping convex region. The other is the colleague relationship, where two agents both need to satisfy the CM–CARs and their control strategies are interactive. Thus, we propose an optimization-based strategy to achieve the tracking mission for the two-agent system, which satisfies the CM–CARs. Finally, we provide some simulation results to verify the proposed strategies.

查看原文本刊更多论文

两种关系下的双代理连通性维护和碰撞规避

本文研究了在两种关系下具有连通性维护和避免碰撞要求（CM-CARs）的双代理跟踪问题。一种是领导者与追随者的关系，即领导者只关注自己的追踪目标，但追随者仍需确保领导者的 CM-CARs 。由于追随者的可行空间是一个非凸环，不便直接搜索可行控制。因此，我们将原来的非凸区域分割开来，通过同构映射寻找一个凸区域。在领导者与追随者的关系下，我们提出了一种在原始可行区域内对追随者的控制方案。它是由确保追随者在映射凸区域满足 CM-CAR 的控制协议转化而来的。另一种是同事关系，即两个代理都需要满足 CM-CAR，它们的控制策略是互动的。因此，我们提出了一种基于优化的策略，以实现满足 CM-CARs 的双代理系统的跟踪任务。最后，我们提供了一些仿真结果来验证所提出的策略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.