{"title":"基于仿生群运动的无人系统规划与控制:全体会议","authors":"C. L. P. Chen","doi":"10.1109/SISY47553.2019.9111562","DOIUrl":null,"url":null,"abstract":"This talk presents swarm control for self-organized system with fixed and switching topologies. The generation strategy, motion control law of a novel leader-follower relation-invariable persistent formation (RIPF), which is a kind of distance-based directed formation for multi-agent systems (MASs), will be discussed. An efficient algorithm is designed to find out if a persistent formation can be generated from a rigid graph. Derived from the properties of a rigid graph, an algorithm to generate a RIPF from any initial location is presented. The communication topology is automatically generated based on RIPF. With the selected minimum agent-movement RIPF, lastly, a control law is designed to drive this initial RIPF to the desired RIPF with given distances among agents. Simulation results show the proposed generative method, control law, and downward-tree are effective to realize the desired formation.","PeriodicalId":256922,"journal":{"name":"2019 IEEE 17th International Symposium on Intelligent Systems and Informatics (SISY)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Unmanned Systems Planning and Control based on Bionic Swarm Movement : Plenary Talk\",\"authors\":\"C. L. P. Chen\",\"doi\":\"10.1109/SISY47553.2019.9111562\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This talk presents swarm control for self-organized system with fixed and switching topologies. The generation strategy, motion control law of a novel leader-follower relation-invariable persistent formation (RIPF), which is a kind of distance-based directed formation for multi-agent systems (MASs), will be discussed. An efficient algorithm is designed to find out if a persistent formation can be generated from a rigid graph. Derived from the properties of a rigid graph, an algorithm to generate a RIPF from any initial location is presented. The communication topology is automatically generated based on RIPF. With the selected minimum agent-movement RIPF, lastly, a control law is designed to drive this initial RIPF to the desired RIPF with given distances among agents. Simulation results show the proposed generative method, control law, and downward-tree are effective to realize the desired formation.\",\"PeriodicalId\":256922,\"journal\":{\"name\":\"2019 IEEE 17th International Symposium on Intelligent Systems and Informatics (SISY)\",\"volume\":\"69 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE 17th International Symposium on Intelligent Systems and Informatics (SISY)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SISY47553.2019.9111562\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 17th International Symposium on Intelligent Systems and Informatics (SISY)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SISY47553.2019.9111562","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Unmanned Systems Planning and Control based on Bionic Swarm Movement : Plenary Talk
This talk presents swarm control for self-organized system with fixed and switching topologies. The generation strategy, motion control law of a novel leader-follower relation-invariable persistent formation (RIPF), which is a kind of distance-based directed formation for multi-agent systems (MASs), will be discussed. An efficient algorithm is designed to find out if a persistent formation can be generated from a rigid graph. Derived from the properties of a rigid graph, an algorithm to generate a RIPF from any initial location is presented. The communication topology is automatically generated based on RIPF. With the selected minimum agent-movement RIPF, lastly, a control law is designed to drive this initial RIPF to the desired RIPF with given distances among agents. Simulation results show the proposed generative method, control law, and downward-tree are effective to realize the desired formation.
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