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86
Alternating spatial patterns for coordinated group motion
- Proc. 46th IEEE Conf. Decision and Control
, 2007
"... Abstract — Motivated by recent observations of fish schools, we study coordinated group motion for individuals with oscillatory speed. Neighbors that have speed oscillations with common frequency, amplitude and average but different phases, move together in alternating spatial patterns, taking turns ..."
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Abstract — Motivated by recent observations of fish schools, we study coordinated group motion for individuals with oscillatory speed. Neighbors that have speed oscillations with common frequency, amplitude and average but different phases, move together in alternating spatial patterns, taking turns being towards the front, sides and back of the group. We propose a model and control laws to investigate the connections between these spatial dynamics, communication when sensing is range or direction limited, and convergence of coordinated group motions. I.
Distributed containment control for multiple autonomous vehicles with double-integrator dynamics: algorithms and experiments
- IEEE Transactions on Control Systems Technology
, 2011
"... Abstract—This brief studies distributed containment control for double-integrator dynamics in the presence of both stationary and dynamic leaders. In the case of stationary leaders, we propose a distributed containment control algorithm and study conditions on the network topology and the control ga ..."
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Abstract—This brief studies distributed containment control for double-integrator dynamics in the presence of both stationary and dynamic leaders. In the case of stationary leaders, we propose a distributed containment control algorithm and study conditions on the network topology and the control gains to guarantee asymp-totic containment control in any dimensional space. In the case of dynamic leaders, we study two cases: leaders with an identical ve-locity and leaders with nonidentical velocities. For the first case, we propose two distributed containment control algorithms to solve, respectively, asymptotic containment control under a switching directed network topology and finite-time containment control under a fixed directed network topology. In particular, asymptotic containment control can be achieved for any dimensional space if the network topology is fixed and for only the 1-D space if the network topology is switching. For the second case, we propose a distributed containment control algorithm under a fixed network topology where the communication patterns among the followers are undirected and derive conditions on the network topology and the control gains to guarantee asymptotic containment control for any dimensional space. Both simulation results and experimental results on a multi-robot platform are provided to validate some theoretical results. Index Terms—Consensus, Containment control, cooperative control, multi-agent systems.
Coordinated motion design on Lie groups
, 2008
"... The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings ..."
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The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way once the Lie group geometry of the configuration space is well characterized. This allows among others to retrieve control laws in the literature for particular examples. A link with Brockett’s double bracket flows is also made. The concepts are illustrated on SO(3), SE(2) and SE(3). 1
MULTISCALE COLLABORATIVE SEARCHING THROUGH SWARMING
"... This paper presents a multiscale searching and target-locating algorithm for a group of agents moving in a swarm and sensing potential targets. The aim of the algorithm is to use these agents to efficiently search for and locate targets with a finite sensing radius in some bounded area. We present a ..."
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Cited by 7 (4 self)
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This paper presents a multiscale searching and target-locating algorithm for a group of agents moving in a swarm and sensing potential targets. The aim of the algorithm is to use these agents to efficiently search for and locate targets with a finite sensing radius in some bounded area. We present an algorithm that both controls agent movement and analyzes sensor signals to determine where targets are located. We use computer simulations to determine the effectiveness of this collaborative searching. We derive some physical scaling properties of the system and compare the results to the data from the simulations. 1
Dynamics of decision making in animal group motion
- J. Nonlinear Sci
, 2009
"... We present a continuous model of a multi-agent system motivated by simulation studies on dynamics of decision making in animal groups in motion. Each individual moves at constant speed in the plane and adjusts its heading in response to relative headings of others in the population. Two subgroups of ..."
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Cited by 6 (3 self)
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We present a continuous model of a multi-agent system motivated by simulation studies on dynamics of decision making in animal groups in motion. Each individual moves at constant speed in the plane and adjusts its heading in response to relative headings of others in the population. Two subgroups of the population are informed such that individuals in each subgroup have a preferred direction of motion. The model exhibits fast and slow time scales allowing for a reduction in the dimension of the problem. The stable solutions for the reduced model correspond to compromise by individuals with conflicting preferences. We study the global phase space for the proposed reduced model by computing equilibria and proving stability and bifurcations. 1
Backstepping control design for motion coordination of self-propelled vehicles in a flowfield
- International Journal of Robust and Nonlinear Control
"... Abstract — Motion coordination of autonomous vehicles has applications from target surveillance to climate monitoring. Previous research has yielded stabilizing control laws for a self-propelled-vehicle model with first-order rotational dynamics; however, this model may not adequately describe the r ..."
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Cited by 6 (2 self)
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Abstract — Motion coordination of autonomous vehicles has applications from target surveillance to climate monitoring. Previous research has yielded stabilizing control laws for a self-propelled-vehicle model with first-order rotational dynamics; however, this model may not adequately describe the rotational dynamics of vehicles in the atmosphere or ocean. This pa-per describes the design of backstepping algorithms for the decentralized control of self-propelled vehicles with second-order rotational dynamics. We design backstepping controls for planar parallel and circular formations in the absence of a flowfield and in the presence of a steady, uniform flowfield. These controls extend prior results to a more realistic vehicle model. I.
Phase-locking between Kuramoto oscillators: robustness to time-varying natural frequencies
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Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range
, 2009
"... Abstract — This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communica ..."
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Cited by 4 (0 self)
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Abstract — This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control which includes the Laplacian matrix of the communication graph (fixed or distance-dependent). The system was implemented in computer simulation, accessible though Web 1. I.
A Lego Mindstorms experimental setup for multi-agent systems
- In Proceedings of the IEEE Multi-conference on Systems and Control, Saint
, 2009
"... Abstract — This paper presents an experimental setup based on the LEGO Mindstorms technology, suitable for the val-idation of cooperative control strategies for multiple vehicle systems. Despite its low cost, the proposed setup features good scalability and is versatile enough to be adopted for test ..."
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Abstract — This paper presents an experimental setup based on the LEGO Mindstorms technology, suitable for the val-idation of cooperative control strategies for multiple vehicle systems. Despite its low cost, the proposed setup features good scalability and is versatile enough to be adopted for testing different solutions to a number of crucial problems arising in multi-agent systems, like formation control, motion coordina-tion, coverage problems, etc. At the same time, it represents a challenging testbed, presenting several issues that have to be faced in a real-world scenario, such as communication constraints, control quantization, noisy measurements. As an application, the experimental validation of a recently proposed decentralized control law is presented, for the collective circular motion of a team of nonholonomic vehicles about a virtual reference beacon. I.