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flocking algorithm with multi-target tracking for multi-agent systems

PATTERN RECOGNITION LETTERS 2010年第9期31卷 800-805页

作者： Luo, Xiaoyuan Li, Shaobao Guan, Xinping Yanshan Univ Dept Elect Engn Qinhuangdao 066004 Peoples R China

This paper investigates a flocking algorithm with multi-target tracking for multi-agent systems. It is supposed that every target can accept a certain number of agents. Which target is chosen by an agent is determined by the distances from the agent to the targets and the number of agents accepted by targets. Based on whether agents move toward the same target or toward separate targets, two kinds of potential functions are presented to carry out the flocking algorithm. Then the inputs of the dynamic system can be obtained. Under the driving of the inputs, agents with the same target can make a flocking during the tracking process, and the agents with different targets separate from each other. A time-varying parameter is designed to control the maximum velocity of agents in the proposed algorithm. Lyapunov stability theorem is applied to prove the stability of the dynamic system. Finally, simulation results verify the effectiveness of the proposed algorithm. (c) 2010 Elsevier B.V. All rights reserved.

关键词： Multi-agent Multi-target Potential function flocking algorithm

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Extended flocking algorithm for Self-parameter Tuning

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ELECTRONICS AND COMMUNICATIONS IN JAPAN 2015年第4期98卷 44-51页

作者： Yamauchi, Sho Kawamura, Hidenori Suzuki, Keiji Hokkaido Univ Grad Sch Informat Sci Sapporo Hokkaido 060 Japan

flocking algorithms for a multiagent system are distributed algorithms that only have simple rules for each agent but generate complex formational movement. These algorithms are known as swarm intelligence and are robust and disaster tolerant for most cases. We consider that flocking algorithms that have these characteristics are the way to generate homeostasis in a system. We expect that by making use of this algorithm the system can tune its self-parameters and thus maintain a high performance. First, to apply a flocking algorithm to a system, we extended the flocking algorithm to form an arbitrary lattice for further flexibility. We then applied the extended flocking algorithm to position tracking camera system as an example. (C) 2015 Wiley Periodicals, Inc.

关键词： autonomous system flocking algorithm self-parameter tuning

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Clusterflock: a flocking algorithm for isolating congruent phylogenomic datasets

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GIGASCIENCE 2016年第1期5卷 44页

作者： Narechania, Apurva Baker, Richard DeSalle, Rob Mathema, Barun Kolokotronis, Sergios-Orestis Kreiswirth, Barry Planet, Paul J. Amer Museum Nat Hist Sackler Inst Comparat Genom New York NY 10024 USA Rutgers Newark New Jersey Med Sch Publ Hlth Res Inst Ctr Newark NJ 07103 USA Childrens Hosp Philadelphia Dept Pediat Div Pediat Infect Dis Philadelphia PA 19104 USA Univ Penn Philadelphia PA 19104 USA Fordham Univ Dept Biol Sci Bronx NY 10458 USA Columbia Univ Mailman Sch Publ Hlth Dept Epidemiol New York NY 10032 USA

Background: Collective animal behavior, such as the flocking of birds or the shoaling of fish, has inspired a class of algorithms designed to optimize distance-based clusters in various applications, including document analysis and DNA microarrays. In a flocking model, individual agents respond only to their immediate environment and move according to a few simple rules. After several iterations the agents self-organize, and clusters emerge without the need for partitional seeds. In addition to its unsupervised nature, flocking offers several computational advantages, including the potential to reduce the number of required comparisons. Findings: In the tool presented here, Clusterflock, we have implemented a flocking algorithm designed to locate groups (flocks) of orthologous gene families (OGFs) that share an evolutionary history. Pairwise distances that measure phylogenetic incongruence between OGFs guide flock formation. We tested this approach on several simulated datasets by varying the number of underlying topologies, the proportion of missing data, and evolutionary rates, and show that in datasets containing high levels of missing data and rate heterogeneity, Clusterflock outperforms other well-established clustering techniques. We also verified its utility on a known, large-scale recombination event in Staphylococcus aureus. By isolating sets of OGFs with divergent phylogenetic signals, we were able to pinpoint the recombined region without forcing a pre-determined number of groupings or defining a pre-determined incongruence threshold. Conclusions: Clusterflock is an open-source tool that can be used to discover horizontally transferred genes, recombined areas of chromosomes, and the phylogenetic 'core' of a genome. Although we used it here in an evolutionary context, it is generalizable to any clustering problem. Users can write extensions to calculate any distance metric on the unit interval, and can use these distances to 'flock' any type of data.

关键词： Swarms flocking algorithm Unsupervised clustering Data mining Horizontal gene transfer Recombination Staphylococcus aureus

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Design of Interval Type-2 Fuzzy Logic Controllers for flocking algorithm

Design of Interval Type-2 Fuzzy Logic Controllers for Flocki...

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IEEE International Conference on Fuzzy Systems (FUZZ 2011)

作者： Lee, Seung-Mok Kim, Jong-Hwan Myung, Hyun Korea Adv Inst Sci & Technol Dept Civil & Environm Engn Robot Program Taejon 305701 South Korea Korea Adv Inst Sci & Technol Dept Elect & Comp Engn Robot Program Taejon 305701 South Korea

ISBN: (纸本)9781424473175

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produces better performances under noisy environments. In this paper, therefore, we present a reactive control architecture for flocking algorithm that is based on interval type-2 FLC to implement the flocking behaviors consisting separation, obstacle avoidance, and velocity matching behaviors. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC.

关键词： Type-2 fuzzy logic controller (FLC) flocking algorithm reactive control multi-agent systems

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Formation Control for Multi-robots Based on flocking algorithm

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1st International Conference Intelligent Robotics and Applications

作者： Lei, Bin Li, Wenfeng Wuhan Univ Technol Sch Logist Engn Wuhan 430063 Peoples R China

ISBN: (纸本)9783540885160

This paper presents a flocking algorithm for multi-robots formation control in a free workspace with an target steering agent that takes the group target into account. The main idea is that uses flocking control algorithm to implement the "binds" model of Reynolds among multi-robots. Simulation results show that the proposed method ensure that the group formation is stabilized to a desired shape, while all the robots' velocities and directions converge to the same.

关键词： Multi-robots formation flocking algorithm flocking control

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An Alternative flocking algorithm with Additional Dynamic Conditions 9

An Alternative Flocking Algorithm with Additional Dynamic Co...

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International Conference on Broadband and Wireless Computing, Communication and Applications (BWCCA)

作者： Sun, Ningping Tokunaga, Yusuke Kumamoto Natl Coll Technol Koshi Kumamoto Japan

ISBN: (纸本)9781479941735

flocking simulates the motion of a flock, which is well known as artificial life algorithms. By using the flocking, we can express the motion of the group such as fishes, birds, or crowded animals in computer graphics. In order to render flocking more realistically, we have devised a method that adds some dynamic conditions into flocking computation. The additional external force and the moving coordinated cameras within the three dimensional space can help us to apply the flocking algorithm into 3DCG system more extendedly and easily. In this paper we provide our algorithm and approaches.

关键词： artificial life boid model flocking algorithm computer graphics modeling and rendering

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Distributed exploration algorithm for GPS-denied areas based on flocking rules

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INTERNATIONAL JOURNAL OF CONTROL 2025年

作者： Ribeiro, Rafael Santos, Francisco Silvestre, Daniel Silvestre, Carlos Inst Super Tecn Inst Syst & Robot Lisbon Portugal NOVA Univ Lisbon FCT UNL Sch Sci & Technol P-2829516 Caparica Portugal Lusofona Univ COPELABS Lisbon Portugal Univ Macau Fac Sci & Technol Dept Elect & Comp Engn Taipa Macau Peoples R China Univ Lisbon Inst Super Tecn Lisbon Portugal

This paper addresses the problem of having a multi-agent system (MAS) search for areas of higher relative importance as measured by an unknown utility function. In the envisioned scenario, there are inexpensive agents without localisation sensors and limited communication capabilities. More expensive nodes serve as fixed towers and forward noisy position and velocity measurements using directional antennae. There is no assumptions on initial network connectivity. By proposing a set of flocking rules and set-membership estimation, the formation drives to a vicinity of nearby local maximum of the function while having theoretical guarantees of no collisions. The performance of the method is evaluated both in Matlab simulations and using the Crazyswarm package under the robot operating system (ROS) environment, including cases of moving destinations, obstacles, undesirable zones, and different number of nodes and sizes of the mission plane.

关键词： flocking algorithm distributed exploration directional communication

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flocking Control of Multiple AUVs Based on Fuzzy Potential Functions

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2018年第5期26卷 2539-2551页

作者： Sahu, Basant Kumar Subudhi, Bidyadhar Natl Inst Sci & Technol Dept Elect Engn Berhampur 761008 Orissa India Natl Inst Technol Dept Elect Engn Rourkela 769008 India

This paper presents the formulation of a flocking control algorithm for a group of autonomous underwater vehicles (AUVs). A leader-follower control strategy is employed to flock a group of AUVs along a predefined desired path. In this approach, leader AUVs are assumed to have global knowledge of the desired trajectory and the follower AUVs are not provided with this information. For keeping all the AUVs connected in a group, a flocking center is estimated. This flocking center is a virtual point whose position at any instant of time can he predicted by using a consensus algorithm. The controllers for the leader and follower AUVs are developed by implementing mathematical and fuzzy artificial potential functions. A group of four AUVs is considered for analyzing the efficacy of the developed control algorithm. Simulations are carried out both in obstacle-free and obstacle-rich environments. From the obtained results, it is observed that the proposed fuzzy flocking control algorithm provides effective cooperative motion control of multiple AUVs along the desired paths and avoid obstacles successively. It is also observed that the flocking controller developed based on fuzzy artificial potential function outperforms the controller with mathematical potential functions despite uncertainties owing to external disturbances.

关键词： Artificial potential function consensus algorithm flocking algorithm fuzzy potential function

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A Fast Formation flocking Scheme for a Group of Interactive Distributed Mobile Nodes in Autonomous Networks

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MOBILE NETWORKS & APPLICATIONS 2010年第4期15卷 477-487页

作者： Xiong, Naixue Zhang, Yan Yang, Laurence T. Yeo, Sang-Soo Shu, Lei Yang, Fan Georgia State Univ Dept Comp Sci Atlanta GA 30303 USA Simula Res Lab Martin Linges Fornebu Norway St Francis Xavier Univ Dept Comp Sci Antigonish NS B2G 1C0 Canada Mokwon Univ Taejon South Korea Natl Univ Ireland Digital Enterprise Res Inst Galway Ireland Zhongnan Univ Econ & Law Sch Informat Wuhan Peoples R China

Ubi-Com promises to provide a diversity of services at anytime and anyplace. The mobile nodes are envisioned to cooperate freely and move on a plane with the help of the efficient control and distributed coordination strategies. To achieve this goal, mobile nodes group communications in Ubi-Com is becoming increasing important and challenging. In this paper, we focus on the formation flocking in a group of autonomous mobile nodes. In the scenario, there are two kinds of nodes: the leader node and the follower nodes. The follower nodes are required to follow the leader node wherever it goes (following), while keeping a particular formation they are given in input (flocking). A novel scheme is proposed on the basis of the relative motion theory. Extensive theoretical analysis and simulation results have demonstrated that this scheme provides the follower nodes an efficient and timely method to follow the leader with the shortest path and the shortest time. In addition, the reported scheme is scalable in the sense that the processing load in each node is not increasing with more nodes in a group.

关键词： distributed system mobile nodes flocking algorithm motion theory control and coordination

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A distributed flocking control strategy for UAV groups

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COMPUTER COMMUNICATIONS 2020年第0期153卷 95-101页

作者： Liu, Wei Gao, Zhijun Shenyang Jianzhu Univ Network Ctr Shenyang Peoples R China Shenyang Jianzhu Univ Informat & Control Engn Fac Shenyang Peoples R China

To ensure the information security of UAV groups, maximize the detection range of the UAV group and minimize the communication range, this paper improves Olfati-Saber's flocking algorithm using virtual leader and integrates the multiple UAVs with real environment. The improved swarm control algorithm can help to make all agents accurately track the speed of virtual leaders. Then, we introduce the conception of virtual communication circle to control the communication power of each UAV, and the moving function of the target position is improved to meet the limited conditions of given communication distance, to ensure the non-collision and stable communication of the UAV during the moving process. All UAVs in the group system will keep converging, avoiding collision and the speed is the same as that of the virtual pilot. Therefore, multiple UAVs can track the virtual pilot for cluster flight and a distributed cooperative control strategy can be acquired. The simulation results show that the strategy proposed in this paper makes a better communication performance among UAVs in real time, and the UAV groups achieve the information more timely, which is proved to be an effective way to ensure the security communication among multiple UAVs.

关键词： Communication strategy UAV flocking algorithm Virtual leader Distributed control

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