作者：
Liu, Cheng-LinJiangnan Univ
Inst Automat Minist Educ Key Lab Adv Proc Control Light Ind Wuxi 214122 Peoples R China
Scaled consensus problem is studied for a heterogeneous multi-agent system composed of non-identical stable linear agents, and a leader-following scaled consensus algorithm is designed. By using frequency domain analy...
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Scaled consensus problem is studied for a heterogeneous multi-agent system composed of non-identical stable linear agents, and a leader-following scaled consensus algorithm is designed. By using frequency domain analysis, consensus conditions are obtained for the agents without communication delay under undirected and directed topologies, respectively. Moreover, consensus criteria are also gained for the agents suffering from communication delay under directed topology. Simulation examples show the correctness of theoretical results. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Scaled consensus seeking is investigated for a heterogeneous linear first-order multi-agent system, and a leader-following consensus algorithm is designed. By using frequency-domain analysis, consensus conditions are ...
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ISBN:
(纸本)9781509041022
Scaled consensus seeking is investigated for a heterogeneous linear first-order multi-agent system, and a leader-following consensus algorithm is designed. By using frequency-domain analysis, consensus conditions are obtained for the agents without communication delay under symmetric and asymmetric topology respectively. Moreover, consensus criteria are also gained for the agents with communication delay under general directed topology. Simulation examples show the correctness of the results.
A robotic sensor network is advantageous in performing a coverage task compared to the static sensor network because of its ability to self-deploy and self-reconfigure. However, since the sensor has a limited sensing ...
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A robotic sensor network is advantageous in performing a coverage task compared to the static sensor network because of its ability to self-deploy and self-reconfigure. However, since the sensor has a limited sensing range, when mobile sensors are initially deployed, sensors located far away from the region of interest may not be able to self-deploy themselves, that is, participate in the coverage task. This results in a degradation of coverage performance by the robotic network. This paper proposes a novel algorithm in order to improve the coverage performance by the whole mobile sensor network by guaranteeing the participation of all sensors in the coverage task. The algorithm is a combination of the standard gradient-based coverage algorithm and a leader-following algorithm and is designed to maximise the joint detection probabilities of the events in the region of interest. As a strategy, first a set of leader sensors are selected based on the information which each sensor has gathered. The rest of the sensors will follow their leaders until they have sufficient information on the region of interest and then switch to the standard coverage algorithm. The proposed algorithm can be performed in a distributed manner. The results are validated through several numerical simulations.
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