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检索条件"主题词=Formation Algorithm"

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Research on Self-Organizing Behavior-Based UAV formation Based on Distributed Control 3

Research on Self-Organizing Behavior-Based UAV Formation Bas...

引用

3rd International Conference on Vision, Image and Signal Processing (ICVISP)

作者： Li Yunhe Li Bo Niu Xiaowei Zhaoqing Univ Coll Elect & Elect Engn Zhaoqing Peoples R China

ISBN: (纸本)9781450376259

In this study, under the distributed control, the relevant information detected was used to realize UAV formation based on self-organizing behavior on the basis of the quasi-static communication topological structure. This paper improves and optimizes the artificial potential energy function by combining the consistency algorithm and virtual navigation method to satisfy the three constraints of the congestion control strategy. By adding the edge delay effect, the local congestion will not occur, and the network connectivity in the global process will not occur arbitrary switching of the topology structure, so that the UAVs can switch from any initial state to the expected formation pattern and maintain the pattern.

关键词： multi-UAV self-organization formation algorithm control strategy

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Research on Self-Organizing Behavior-Based UAV formation Based on Distributed Control 2019

Research on Self-Organizing Behavior-Based UAV Formation Bas...

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Proceedings of the 3rd International Conference on Vision, Image and Signal Processing

作者： Li Yunhe Li Bo Niu Xiaowei College of Electronics and Electrical Engineering Zhaoqing University Zhaoqing China

ISBN: (纸本)9781450376259

关键词： self-organization formation algorithm control strategy multi-UAV

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Incentive mechanism for data uploading in mobile crowdsensing

Incentive mechanism for data uploading in mobile crowdsensin...

引用

2019 International Conference on Networking and Network Applications, NaNA 2019

作者： Liu, Xiaolan Wang, Wu Yang, Bin Fan, Yuanyuan School of Computer and Information Engineering Chuzhou University Chuzhou Anhui239000 China Shaanxi Key Laboratory of Network and System Security Xidian University Xi'an Shaanxi710071 China School of Mathematics and Computer Science Yunnan Minzu University Kunming Yunnan650000 China

ISBN: (纸本)9781728126296

Mobile crowdsensing is a promising service paradigm utilizing the pervasive mobile devices to cooperatively perform large-scale sensing tasks. Data uploading which aims to deliver the sensed data to the control center, is an important problem in mobile crowdsensing. Existing works assume that the devices participate in device-to-device (D2D) cooperation voluntarily to assist other devices for data uploading. In reality, to assist other devices to upload data, the devices are requirement of consuming their own resources (e.g., memory, channel and time), which affects their willingness to participate in D2D cooperation. To this limitation, we propose an incentive mechanism to stimulate efficient D2D cooperation among devices. With this incentive mechanism, the reward of each device is determined by the reduced data uploading latency. According to the incentive mechanism, we design a chain formation algorithm, where the nearby devices can cooperate to construct a D2D chain by employing bottom to top mode. Finally, we corroborate the effectiveness of our incentive mechanism in reducing the average data uploading latency by extensive simulations. © 2019 IEEE.

关键词： D2D communication Data uploading formation algorithm Incentive mechanism Mobile crowdsensing

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A Guidance and Control Law for Autonomous formation of Quadrotors

A Guidance and Control Law for Autonomous Formation of Quadr...

引用

第三届机电控制技术与交通运输国际学术会议

作者： Xun Zhu Shuguang Zhang School of Transportation Science and Engineering Beihang University

formation flying means two or more flight vehicles maintain an organizational flight mode. In autonomous formation, the guidance is normally divided into formation configuration and task assignment. This paper is focused on the formation configuration of quadrotors from their initial random positions to an expected configuration in response of the leader quadrotor. Based on the position and velocity of the leader, the formation controller will generate the guidance and control instructions from the relative dynamic system. The updated positions of the followers are compared with the expected positions and furtherly processed by PI controllers to form speed instructions for the followers, and feedforward controllers are included to shape commands to provide better tracking performance. Simulations with five quadrotors result show that the designed guidance and control algorithm can help quickly achieve and keep the desired formation configuration even to follow complex motions of the leader quadrotor.

关键词： formation flying Quadrotor Relative kinematic formation algorithm

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Online Distributed ADMM via Dual Averaging 53

Online Distributed ADMM via Dual Averaging

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53rd IEEE Annual Conference on Decision and Control (CDC)

作者： Hosseini, Saghar Chapman, Airlie Mesbahi, Mehran Univ Washington Dept Aeronaut & Astronaut Seattle WA 98105 USA

ISBN: (纸本)9781467360906

This paper presents a convergence analysis on a distributed Alternating Direction Method of Multipliers (ADMM) algorithm which solves online convex optimization problems under linear constraints. The goal is to distributively optimize a global objective function over a network of decision makers. The global objective function is composed of convex cost functions associated with each agent. The local cost functions can be broken down into two convex functions, one of which is revealed over time to the decision makers and one known a priori. We extend an online ADMM algorithm to a distributed setting based on dual-averaging. We then explore the rate of convergence of the performance of the sequence of decisions generated by the algorithm to the best fixed decision in hindsight. This performance metric is called regret. An upper bound on the regret of the proposed algorithm is presented as a function of the underlying network topology and linear constraints. The online distributed ADMM algorithm is then applied to a formation acquisition problem.

关键词： Online Optimization Distributed algorithms ADMM Dual-averaging formation algorithm

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