Vor Ort
Merkzettel Warenkorb
Produktbild: Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems Theory and Applications

156,99 €

inkl. gesetzl. MwSt., Versandkostenfrei

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

15.05.2017

Herausgeber

Yue Wang + weitere

Verlag

John Wiley & Sons Inc

Seitenzahl

320

Maße (L/B/H)

21,8/14,5/2 cm

Gewicht

454 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-119-26612-9

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

15.05.2017

Herausgeber

Verlag

John Wiley & Sons Inc

Seitenzahl

320

Maße (L/B/H)

21,8/14,5/2 cm

Gewicht

454 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-119-26612-9

Herstelleradresse

Libri GmbH
Europaallee 1
36244 Bad Hersfeld
DE

Email: gpsr@libri.de

Noch keine Bewertungen vorhanden

Verfassen Sie die erste Bewertung zu diesem Artikel

Helfen Sie anderen Kundinnen und Kunden durch Ihre Meinung.

Kundinnen und Kunden meinen

Bewertungen (0)
Die Leseprobe wird geladen.
  • Produktbild: Cooperative Control of Multi-Agent Systems

  • List of Contributors xiii 

    Preface xvii 

    Acknowledgment xix 

    1 Introduction 1 
    Yue Wang, Eloy Garcia, David Casbeer and Fumin Zhang 

    1.1 Introduction 1 

    1.2 Chapter Summary and Contributions 11 

    References 17 

    2 Sensor Placement Algorithms for a Path Covering Problem 31 
    Sivakumar Rathinam and Rajnikant Sharma 

    2.1 Problem Statement 34 

    2.2 Algorithm Approx 1 35 

    2.2.1 Algorithm for Targets That Lie Within a Strip 36 

    2.2.2 Algorithm for a General Set of Points 37 

    2.2.3 Proof of the Approximation Ratio 38 

    2.3 Algorithm Approx 2 42 

    2.4 Numerical Results 46 

    2.5 Conclusions 48 

    References 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 João P.  Hespanha 

    3.1 Vision-Based Target Tracking 53 

    3.2 Problem Formulation 58 

    3.2.1 UAV Dynamics 58 

    3.2.2 Target Dynamics and Overall State Space 61 

    3.2.3 Measurement Error Models 62 

    3.3 Robust Output-Feedback MPC/MHE 64 

    3.4 Simulation Results 67 

    3.4.1 Constant-Velocity Target 70 

    3.4.2 Evasive Target 73 

    3.4.3 Experimental Target Log 76 

    3.5 Conclusion and Future Work 79 

    References 80 

    4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints 85 
    Xiaofeng Wang, Eloy Garcia, Zheqing Zhou, Derek KingstonandDavid Casbeer 

    4.1 Introduction 85 

    4.2 Problem Statement 87 

    4.2.1 Notations 87 

    4.2.2 Problem Formulation 88 

    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 

    References 111 

    5 Greedy Maximization 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 

    5.2.1 Problem Variables 119 

    5.2.2 Constraints 119 

    5.2.3 Objective Function 120 

    5.3 Properties of the Objective Function 120 

    5.3.1 Preliminary-Greedy Algorithm 121 

    5.3.2 Preliminary-Maximization of Set Function 121 

    5.3.3 Weapon Target Assignment-Lower Bound with Greedy Algorithm 122 

    5.4 Algorithmic Details 126 

    5.4.1 Time Slot Generation 126 

    5.4.2 Greedy Maximization 127 

    5.5 Numerical Case Studies 128 

    5.5.1 Simple TSWTA Example 128 

    5.5.2 Realistic Interceptor-Ballistic Target Assignment 134 

    5.6 Conclusion 136 

    Acknowledgment 136 

    References 137 

    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 

    6.2.1 Preliminaries 144 

    6.2.2 Mission Description 144 

    6.3 Decentralized Assignment of Threats 148 

    6.3.1 Optimal Individual Paths and Selections 148 

    6.3.2 Decentralized Assignment Algorithm 150 

    6.4 Assignment Constraints 153 

    6.4.1 Timing Constraints 154 

    6.4.2 Coupled Decision Making 158 

    6.5 Multiple Main Targets 163 

    6.6 Conclusions 172 

    References 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 

    7.1.1 Organization 178 

    7.2 Preliminaries 181 

    7.2.1 Event-Triggered Control of Linear Systems 182 

    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 

    7.6.1 Directed Graphs 196 

    7.7 Periodic Event-Triggered Coordination 199 

    7.8 Conclusions and Future Outlook 201 

    References 202 

    Appendix 205 

    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 

    8.2.1 Network Design for Fast Convergence of Consensus Protocol 213 

    8.2.2 Network Design for Minimum Total Effective Resistance 215 

    8.2.3 Equivalent Conversion from Cardinality-Constrained Optimization Problems to RCOPs 216 

    8.3 Network Topology Identification Problems 216 

    8.3.1 LTI System Identification 216 

    8.3.2 Formulation of NTIs as QCQPs 219 

    8.3.3 Equivalent Conversion from QCQPs to RCOPs 220 

    8.4 Iterative Rank Minimization Approach 221 

    8.5 Simulation Examples 224 

    8.5.1 Example for Designing Fast Converging Consensus-based Network 225 

    8.5.2 Example for Designing Minimum Total Effective Resistance Network 226 

    8.5.3 Example of NTI with Agent Dynamics Driven by Consensus Protocol 227 

    8.6 Conclusions 231 

    References 232 

    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 

    9.2.1 Graph Theory Notions 239 

    9.2.2 Problem Statement 240 

    9.3 Fixed Interaction Graph 241 

    9.3.1 Equal Possibility 242 

    9.3.2 Unequal Possibility 249 

    9.4 Switching Interaction Graph 253 

    9.5 Conclusion 262 

    References 262 

    10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems 265 
    Yue Wang and Li Wang 

    10.1 Introduction 265 

    10.2 Problem Formulation 268 

    10.2.1 Robot Models 268 

    10.2.2 Sensor Models 270 

    10.2.3 Communication Strategies 272 

    10.2.4 State of Awareness Dynamics 273 

    10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275 

    10.3.1 Motion Control for Boundary-Tracking UAVs 275 

    10.3.2 Awareness Coverage Control for Coverage Robots 275 

    10.3.2.1 Awareness Metric 275 

    10.3.2.2 Domain Coverage Algorithm 276 

    10.4 Simulation Results 284 

    10.5 Conclusion 287 

    References 287 

    Index 291