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A distributed minimum restrictive connectivity maintenance algorithm

IFAC Proceedings Volumes 2009年第16期42卷 365-370页

作者： Jay Wagenpfeil Adrian Trachte Takeshi Hatanaka Masayuki Fujita Oliver Sawodny Institute for System Dynamics University Stuttgart 70569 Stuttgart Germany Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan

Abstract The dynamic character of autonomous mobile multi-agent networks makes the control of the individual agent's movement a challenging task when certain properties or conditions concerning the global network state must be fulfilled. Many distributed algorithms require that the communication topology of the regarded multi-agent network is connected at all times to execute properly. Since particularly motion control algorithms directly influence the connectivity itself, the fundamental question how connectivity of the network can be maintained is raised. As an additional difficulty, individual agents often have only access to local information, whereas connectivity is a property of the global network. In this work, a distributed hybrid connectivity maintenance algorithm is proposed, which guarantees global connectivity of the network based on local information. The algorithm is divided in two components: First, a discrete topology control algorithm determines periodically the structure of a minimum cost spanning tree on the network communication graph. Second, a continuous connectivity motion control algorithm constrains the location of each individual agent such that the determined spanning tree is preserved. This combined algorithm effectively maintains connectivity under the presence of any finite-valued primary motion control law.

关键词： connectivity maintenance distributed algorithm local information dynamic shortest path search multi-agent networks motion coordination

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Distributed decision making for task switching via a consensus-like algorithm

Distributed decision making for task switching via a consens...

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2009 American control Conference (ACC 2009)

作者： Jay Wagenpfeil Adrian Trachte Takeshi Hatanaka Masayuki Fujita Oliver Sawodny Institute for System Dynamics University of Stuttgart 70569 Stuttgart GERMANY Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 JAPAN

ISBN: (纸本)9781424445233

We propose a consensus-like algorithm for switching from a first to a second task in Multi-Agent systems. The task-switch is supposed to occur synchronously for all agents after each single agent has finished the first task, because the two tasks may influence each other. As every agent has only local information about its own task-state, the proposed algorithm is used to determine the state of the whole network. With this additional information each agent can decide when to safely switch the task. In this paper, the first task is a distributed exploration control law, while the second task is a distributed coverage control law where the goal is to maximize the probability of detecting certain events. By exploring the mission space before switching to the coverage task, the overall probability of detecting those events is increased. For the exploration task a r-limited voronoi cell based algorithm is used and for the coverage task a gradient based control law.

关键词： multi-agent networks distributed algorithms coverage control exploration synchronous taskswitch decision making

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Coverage control with Information Decay in Dynamic Environments

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IFAC Proceedings Volumes 2008年第2期41卷 4180-4185页

作者： Nico Hübel S. Hirche A. Gusrialdi T. Hatanaka M. Fujita O. Sawodny Institute for System Dynamics Universität Stuttgart Fujita Laboratory Dept. of Mechanical and Control Engineering Tokyo Institute of Technology

In this paper a method for coverage control for a convex region D ⊂ ℝ 2 in a dynamic environment is studied. An information map is introduced in which the information about each point is decaying with respect to time s.t. the robots must revisit them periodically. Also a time-varying density function is used for modeling moving points of interest. The considered gradient based control approach causes the cost function to stay within the desired bounds. But due to the non-stationary problem setup caused by the information decay it does not converge to a single point but to a bounded set, such that the robots keep gathering information continuously. With this method it is possible to gather information about several points of interest within the region D with only a few robots. In the end simulation results are presented to outline the effectiveness of the proposed control law.

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Methods and algorithms of multicriteria optimization on the basis of nonrigorous rankings of alternatives by partial criteria and experience of computer realization

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Journal of Automation and Information Sciences 2006年第1期38卷 24-35页

作者： Vassilyev, S.N. Kotlov, Yu.V. Russian Academy of Sciences Institute of System Dynamics and Control Theory Siberian Branch Russian Academy of Sciences Irkutsk Irkutsk Higher Military Aviation Engineering School Russia

We consider a class of problems of multicriteria selection, where final set of alternatives is known, a number of alternatives can be sufficiently great, they can be evaluated both quantitatively and qualitatively. Information about preferences is represented and generalized (with indication of equivalence) of ranking of alternatives. For the given class of problems we suggest computer technology of search of compromise solution, which uses qualitative criteria and new approach for solving problems of multicriteria selection. © 2006 by Begell House Inc.

关键词： Algorithms

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Communication, ocean, and meteorological satellite orbit determination analysis considering maneuver scheme

Communication, ocean, and meteorological satellite orbit det...

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AIAA/AAS Astrodynamics Specialist Conference, 2006

作者： Hwang, Yoola Lee, Byoung-Sun Kim, Hae-Yeon Kim, Jaehoon Kim, Haedong Shin, Hyo-Sang Electronics and Telecommunications Research Institute Daejeon 305-350 Korea Republic of Korea Aerospace Research Institute Daejeon 305-333 Korea Republic of Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of Satellite Ground Control System Team Korea Republic of AIAA United States AAS Norway Korea Aerospace Research Institute Korea Republic of Flight Dynamics and Control Lab. Aerospace Engineering Korea Republic of

ISBN: (纸本)1563478226

Orbit determination (OD) analysis for geostationary Communications, Ocean, and Meteorological Satellite (COMS) is presented. Since the orbital longitude of COMS is close to that of satellite tracking site, geometric singularity affects observability. For OD, we fix velocity increment by the wheel off-loading maneuver, and the azimuth angle tracking bias is not estimated because of observability problem. Final epoch of the propagated OD based on different data arc length is used for two-day orbit prediction. The difference between truth and 48-hour predicted orbit that contains the OD error shows 4-18 km Root-Sum-Squares (RSS) in 3-D sense (one sigma) in spite of the singularity problem. Thus an operational Orbit Determination and prediction (ODP) system for COMS fulfills the requirement for 18 km RSS (one sigma) predicted positioning knowledge. Copyright © 2006 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Space research

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Design of an Image Motion Compensation (IMC) algorithm for the Communication, Ocean, Meteorological Satellite (COMS)

Design of an Image Motion Compensation (IMC) algorithm for t...

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AIAA/AAS Astrodynamics Specialist Conference, 2006

作者： Jung, Taek-Seo Lee, Un-Seob Park, Sang-Young Choi, Yoon-Hyuk Bang, Hyo-Choong Ju, Gwanghyeok Yang, Koon-Ho Yonsei University Seoul 120-749 Korea Republic of Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of Korea Aerospace Research Institute Daejeon 305-333 Korea Republic of Astrodynamics and Control Lab. Dept. of Astronomy and Space Science Flight Dynamics and Control Lab. Dept. of Aerospace Engineering Communication Satellite System Department

ISBN: (纸本)1563478226

This paper presents an Image Motion Compensation (IMC) algorithm for Korea's Communication, Ocean, and Meteorological Satellite (COMS). An IMC algorithm is a priority component of the Image Navigation and Registration (INR) system to locate and register radiometric image data. To eliminate image distortions, depointing of the imager aiming direction must be adjusted. A compensation algorithm to correct depointing caused by satellite motion is designed, and the capability of the algorithm is compared with that of existing algorithm applied to the GOES's INR system. The algorithm developed in this paper improves pointing accuracy by efficiently compensating for depointing of the imager aiming direction. Copyright © 2006 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Motion compensation

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Formation control for Mobile Robots in partially known Environments using Mixed Integer Programming and Fuzzy systems

Formation Control for Mobile Robots in partially known Envir...

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SICE Annual Conference

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence Uberlingen Germany Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Institute of System Dynamics University of Stuttgart Germany

We consider a setting where a team of multiple robots has to fulfil a mission in a specifically defined formation in a partially known environment. In many real environments, not all obstacles are previously known, but often most of them. For the planning of the optimal trajectory along these obstacles a mixed integer programming algorithm is used. If during the mission at least one of the robots detects a previously unknown obstacle, the control on each robot switches from centralized formation control to decentralized control. In this case, each robot is able to use its own set of fuzzy systems for obstacle avoidance and returns to the optimal trajectory after passing the unknown obstacles. This concept allows the robots to find the optimal trajectories for the mission task in known areas using the mixed integer programming. In unknown or for the mixed integer programming too complex scenarios the robots have to use the information based on their limited onboard sensors. With the sensor information they are in most cases able to find at least a possible way through the obstacles by using a set of onboard fuzzy systems for robot control

关键词： Robot control control systems Mobile robots Linear programming Fuzzy systems Centralized control Robot sensing systems Trajectory Switches Distributed control

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A networked formation control for groups of mobile robots using mixed integer programming

A networked formation control for groups of mobile robots us...

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IEEE International Conference on Computer-Aided Design

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence 88662 Ueberlingen Germany The Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan The Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan The Institute of System Dynamics University of Stuttgart Stuttgart Germany

In this paper we demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication. Therefore we use a global centralized planning algorithm and solve the optimal trajectory problem of the formation of mobile robots by mixed integer quadratic programming (MIQP). This description of formation can be used for non-static formations as well as for formation switching between different kinds of formations where inter-robot collisions will be avoided and the formations are organized as unit-center-referenced formations. The environment itself can be formulated by convex polygons that are described as hybrid systems. The moving along the optimum trajectories is controlled by a controller structure in three levels, whereby the highest level is set on a master robot and controls the general formation using Bluetooth communication between the robots. The control of the position of each robot is realized by an individual controller on every robot and a motor controller for every wheel of each robot. The effectiveness of our formation control structure and the algorithm for the planning of the trajectory is demonstrated in simulations and experiments which also verify the dynamic models of the robots

关键词： Mobile robots Linear programming Communication system control Robot control Trajectory Mobile communication Quadratic programming Communication switching Bluetooth Wheels

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Announcements, comments, and acknowledgments

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AIAA Journal 2006年第1期44卷 1-10页

作者： Oran, Elaine Kailasanath, Kazhikathra Aggarwal, Suresh K. Ahmadian, Mehdi Alexandrov, Natalia Auweter-Kurtz, Monika Bailly, Christophe Balachandran, Balakumar Berman, Alex Candler, Graham V. Chelliah, Harsha K. Chokani, Ndaona Fujii, Kozo Gaitonde, Datta V. Ghia, Kirti Karman N. Givi, Peyman Gore, Jay P. Kaplan, Carolyn R. Livne, Eli Lucht, Robert P. Messac, Achille Wing, N.G. Palazotto, Anthony N. Pierre, Christophe Plotkin, Allen Roy, Ajit K. Saigal, Sunil Sforza, Pasquale M. Shivakumar, Kunigal N. So, Ronald M.C. Springer, Anthony M. Anatolitumin, Anthony M. Zhong, Xiaolin United States Division of Computational Physics United States United States AIAA United States APS United States National Academy of Engineering United States Center for Reactive Flow and Dynamical Systems Naval Research Laboratory United States Institute of Physics Department of Mechanical Engineering University of Illinois at Chicago United States ASME Combustion Institute Department of Mechanical Engineering Virginia Polytechnic Institute State University United States Aeronautics Systems Analysis Branch NASA Langley Research Center United States SIAM ISSMO Aerospace Engineering Institute of Space Systems Universität Stuttgart Germany Amelia Earhart Italy International Amelia Earhart Award Committee Italy France France Mechanical Engineering University of Maryland College Park United States AAM SPIE ASA ASME Technical Committees of Multi-Body Systems Nonlinear Dynamics Dynamics and Control of Structures and Systems American Helicopter Society United States Aerospace Engineering and Mechanics University of Minnesota United States AIAA Thermophysics Technical Committee Mechanical and Aerospace Engineering University of Virginia United States AIAA Propellants and Combustion Technical Committee AIAA's Transition Study Group Aerodynamics Measurement Technology Technical Committee Thermophysics Technical Committee Japan MOSAIC project on the Technology Pressure-sensitive Paint Measurement System Japan High-Speed Flows Group Air Vehicles Directorate Air Force Research Laboratory Wright-Patterson Air Force Base United States Wright State University United States Aerospace Engineering and Engineering Mechanics United States United States Mechanical Engineering University of Pittsburgh United States School of Mechanical Engineering Purdue University United States Committee on Heat Transfer in Fire and Combustion Systems Japan Board of Advisors Central States Section Combustion Institute United States AIChE United States Tau Beta Pi United States

No abstract available

关键词： institute of Space and Astronautical Science American Society of Mechanical Engineers Direct Numerical Simulation Aerospace engineering MDO Propellant Air Forces Aerodynamics Heterogeneous Combustion NASA Langley Research Center

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Simplified modelling and non-linear analysis of a helicopter rotor in vortex ring state

Simplified modelling and non-linear analysis of a helicopter...

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30th European Rotorcraft Forum

作者： Prasad, J.V.R. Chen, Chang Basset, P.-M. Kolb, S. School of Aerospace Engineering Georgia Institute of Technology Atlanta GA United States System Control and Flight Dynamics Department ONERA Salon-de-Provence France

This paper presents results from an on-going collaboration between ONERA and the Georgia institute of Technology on Vortex Ring State (VRS) modelling, analysis and simulation. Specifically, validation of a previously developed 'Vortex Rings' model, which is capable of predicting rotor inflow behaviour in axial descent including the VRS, is presented. A methodology for the use of a VRS inflow model in the nonlinear analysis of the helicopter flight dynamic behaviour during descent flight is described. Results from an initial application of the method by bifurcation theory, are compared with flight test data in the prediction of the VRS boundaries.

关键词： Rotors

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