Collective motions and formations under pursuit strategies on directed acyclic graphs

被引：60

作者：

Ding, Wei ^{[1
]}

Yan, Gangfeng ^{[1
]}

Lin, Zhiyun ^{[1
]}

机构：

[1] Zhejiang Univ, Dept Syst Sci & Engn, Asus Intelligent Syst Lab, Hangzhou 310027, Peoples R China

来源：

AUTOMATICA | 2010年 / 46卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Collective motions; Formation control; Pursuit; Directed acyclic graph; MOBILE AUTONOMOUS AGENTS; PHASE-TRANSITION; CYCLIC PURSUIT; ANIMAL GROUPS; COORDINATION; CONSENSUS; FLOCKING; BEHAVIOR; STATE;

D O I：

10.1016/j.automatica.2009.10.025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel pursuit-based approach is presented to investigate collective motions and formations of a large number of agents with both single-integrator kinematics and double-integrator dynamics on directed acyclic graphs (DAGs). Each agent pursues its neighbors according to a directed acyclic graph, in which the agents without neighbors are leaders. Based on signal flow graph analysis and Mason's rule, necessary and sufficient conditions are derived for BIBO stability of resulting pursuit systems. Moreover, achievable collective motions and formations are analyzed by adjusting a set of control parameters when leaders keep stationary, perform uniform rectilinear motions, and perform uniform circular motions. Finally, simulations are provided for achieving a static formation and mimicking several complex collective behaviors observed in nature, such as V-formation, vortex motions, and tornado motions. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：174 / 181

页数：8

共 36 条

[1] Adaptive design for reference velocity recovery in motion coordination [J].

Bai, He ;

Arcak, Murat ;

Wen, John T. .

SYSTEMS & CONTROL LETTERS, 2008, 57 (08) :602-610

[2]

BRUCKSTEIN A, 1991, 9105 TECHN HAIF ISR

[3]

Chen C.T., 1984, Linear System Theory and Design

[4] Rotating states of self-propelling particles in two dimensions [J].

Chen, Hsuan-Yi ;

Leung, Kwan-tai .

PHYSICAL REVIEW E, 2006, 73 (05)

[5] A NEW TABULAR FORM FOR DETERMINING ROOT DISTRIBUTION OF A COMPLEX POLYNOMIAL WITH RESPECT TO THE IMAGINARY AXIS [J].

CHEN, SS ;

TSAI, JSH .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1993, 38 (10) :1536-1541

[6] Complex emergent dynamics of anisotropic swarms: Convergence vs oscillation [J].

Chu, Tianguang ;

Wang, Long ;

Chen, Tongwen ;

Mu, Shumei .

CHAOS SOLITONS & FRACTALS, 2006, 30 (04) :875-885

[7] Effective leadership and decision-making in animal groups on the move [J].

Couzin, ID ;

Krause, J ;

Franks, NR ;

Levin, SA .

NATURE, 2005, 433 (7025) :513-516

[8] Self-organization and collective behavior in vertebrates [J].

Couzin, ID ;

Krause, J .

ADVANCES IN THE STUDY OF BEHAVIOR, VOL 32, 2003, 32 :1-75

[9] A vision-based formation control framework [J].

Das, AK ;

Fierro, R ;

Kumar, V ;

Ostrowski, JP ;

Spletzer, J ;

Taylor, CJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2002, 18 (05) :813-825

[10]

DING W, 2009, P IEEE INT C ROB AUT, P3496, DOI DOI 10.1109/R0B0T.2009.5152433

← 1 2 3 4 →