2017 13th IEEE International Conference on Control & Automation (ICCA)最新文献_第7页

Multi agents' multi targets mission under uncertainty using probability navigation function 基于概率导航函数的不确定条件下多智能体多目标任务

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003170

Shlomi Hacohen, S. Shoval, N. Shvalb

{"title":"Multi agents' multi targets mission under uncertainty using probability navigation function","authors":"Shlomi Hacohen, S. Shoval, N. Shvalb","doi":"10.1109/ICCA.2017.8003170","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003170","url":null,"abstract":"In this paper we consider the problem of cooperative control of a swarm of autonomous heterogeneous mobile agents that are required to intercept a group of moving targets while avoiding contacts with dynamic obstacles. Traditionally these type of problems are solved by decomposing the solution into several sub problems: targets assignments, coordinated interception control, motion planning and motion control. In this paper we present a simultaneous solution to these problems based on the Probabilistic Navigation Function (PNF). The proposed solution considers uncertainties in the targets and obstacles locations. such that the locations and geometries of the targets and obstacles are given by Gaussian probability distributions. These probabilities are convoluted with the agents', obstacles' and targets' geometries to provide a Global Probability Navigation Function — φ. The PNF provides an analytic solution, and guarantees a simultaneous interception of all targets while limiting the risk of the agents to a given value. The complexity of the solution is linear with the number of targets and agents, and therefore is not limited to small problems. Although the solution provided by the PNF is not optimal, it provides simple and efficient solution, making it suitable for a large range of real time applications.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115877529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Inverse optimal stabilization for spacecraft rendezvous on elliptical orbits 椭圆轨道航天器交会逆最优镇定

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003050

Gao Wei, Ji Haibo, Xi Hongsheng

引用次数: 0

Dynamic study of liquid desiccant regeneration system operating in vacuum condition 真空条件下液体干燥剂再生系统的动力学研究

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003104

H. Yon, W. Cai, Suping Shen

引用次数: 1

A WiFi-enabled indoor air quality monitoring and control system: The design and control experiments 基于wifi的室内空气质量监测与控制系统:设计与控制实验

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003185

Xiaoke Yang, Lingyu Yang, Jing Zhang

引用次数: 28

Adaptive prescribed performance control for switched MIMO uncertain nonlinear systems 切换MIMO不确定非线性系统的自适应预定性能控制

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003151

Lijun Long

引用次数: 1

A barycentric coordinate based approach to three-dimensional distributed localization for wireless sensor networks 基于质心坐标的无线传感器网络三维分布式定位方法

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003128

Tingrui Han, Zhiyun Lin, Ronghao Zheng, Zhimin Han, Haitao Zhang

引用次数: 16

Cooperative output feedback design for networks of strict-feedback systems having high relative degrees 高关联度严格反馈系统网络的协同输出反馈设计

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003094

Xinghu Wang, Dabo Xu, Yiguang Hong, H. Ji

引用次数: 0

A novel binary differential evolution algorithm for a class of fuzzy-stochastic resource allocation problems 一类模糊随机资源分配问题的一种新的二元差分进化算法

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003119

Guimei Fan, Haijun Huang

引用次数: 2

A role-based POMDPs approach for decentralized implicit cooperation of multiple agents 基于角色的多智能体分散隐式合作pomdp方法

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003110

H. Zhang, Jie Chen, H. Fang, L. Dou

{"title":"A role-based POMDPs approach for decentralized implicit cooperation of multiple agents","authors":"H. Zhang, Jie Chen, H. Fang, L. Dou","doi":"10.1109/ICCA.2017.8003110","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003110","url":null,"abstract":"Decentralized decision making with uncertainty is one of the fundamental challenges in multi-agent systems. Current approaches for multi-agent coordination which rely on continuous communication of team members, cannot be applied in the practical applications where loss of communication frequently occurs. For this problem, a role-based multi-agent model is presented for implicit coordination. The model utilizes the concept of role to decompose a mission into a set of single-agent partially observable Markov decision process (POMDPs) and a task optimal assignment. Each role-based model defined with responsibilities and rights of the role can be solved with the acceptable computational complexity. The prediction of teammates' actions is the key issue in implicit coordination, for that, an action prediction algorithm based on role-based model is proposed, which estimates the current belief state by Bayes estimation and calculates the prediction of further action by the role-based policy. After obtaining the clue of the actual action through observation, the deviation of prediction is revised by filtering the prediction set with the clue. Experimental results show the validity of the proposed approach under no communication coordination.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127391547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Wiener structure based model identification for an electronic throttle body 基于Wiener结构的电子节流阀体模型辨识

2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003028

Qingyuan Tan, Hongli Gao, Xiang Chen, M. Zheng

引用次数: 4