Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control

Name: Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control
Brand: Springer
Price: 576.73 EUR
Availability: OnlineOnly

Zhang Ren Mengyi Wang Yongzhao Hua(Editor)

Springer (Publisher)

1st Edition

Published on 29. July 2022

XIX, 1883 pages

E-Book

PDF with digital watermarking

System requirements

978-981-19-3998-3 (ISBN)

€576.73incl. 7% vat

System requirements

for PDF with digital watermarking

E-Book Single Licence

Available for download

Description

More details

Other editions

Persons

Zhang Ren received the B.E., M.E. and Ph.D. degrees in Aircraft Guidance, Navigation, and Simulation from Northwestern Polytechnical University, Xi'an, China, in 1982, 1985 and 1994, respectively. From 1995 to 1998, he was a Professor in School of Marine Engineering, Northwestern Polytechnical University, Xi'an, China. From 1999 to 2000, he held the Visiting Professor positions with University of California, Riverside, and Louisiana State University, USA, respectively. He is now a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China and also the recipient of the Chang Jiang Professorship awarded by the Education Ministry of China. His research interests include aircraft guidance, navigation and control, fault detection, isolation and recovery, and cooperative control of multi-agent systems.

Mengyi Wang received the B.E. degree in Automation from Beihang University, Beijing, China, in 2004 and the Ph.D. degree in Guidance, Navigation and Control from Beijing Institute of Electronic System Engineering, Beijing, China, in 2009. Currently, he is a Deputy Director with Beijing Institute of Electronic System Engineering, Beijing, China. His current research interests include guidance, navigation and control, swarm intelligence and cooperative control, and system design and simulation.

Yongzhao Hua received the B.E. and Ph.D. degrees in Guidance, Navigation and Control from Beihang University, Beijing, China, in 2014 and 2019, respectively. From 2019 to 2020, he was a Postdoctoral Research Associate with Department of Aerospace Engineering, University of Bristol, Bristol, UK. He is currently an Associate Professor in Institute of Artificial Intelligence, Beihang University, Beijing, China. His current research interests include distributed control, optimization, and game for multi-agent systems.

Content

Intro
Contents
Cooperative Unknown Area Coverage by a Swarm of Agents with Limited Sensing and Identification Capabilities
1 Introduction
2 Statement of the Limited-Sensing Coverage Problem
3 The Multi-agent Sweep Coverage Control Strategy Under Crude Identification
4 Simulation Experiments
5 Conclusions
References
Data-Driven Suboptimal Distributed Consensus Control for Discrete-time Multi-agent Systems with Multiple Objectives
1 Introduction
2 Preliminary
3 Data-Driven Suboptimal Multiobjective Distributed Control Algorithm
3.1 Problem Formulation
3.2 Q-function-based Control Policy Construction Approach
3.3 Policy Iteration Based Actor-critic Learning Framework
3.4 Analysis of Convergence and Suboptimality
4 Simulation
5 Conclusion
References
Overview on Task Allocation Methods for Cooperative Multi-target Attack
1 Introduction
2 Task Allocation Project for Cooperative Attack
3 Multi-UAV Cooperative Task Allocation
3.1 Task Allocation Modeling
3.2 Task Allocation Solution
4 Challenges and Prospects
5 Conclusions
References
Summary of Path Planning Approaches of Multiple UAVs
1 Introduction
2 Multi-UAVs Formation Path Planning Project
3 Multi-UAV Cooperative Path Planning
3.1 Path Planning Modeling
3.2 Path Planning Solution
4 Challenges and Prospects
5 Conclusions
References
Compatible Formation of UAVs with Visual Sensing Constraint and Obstacle Avoidance
1 Introduction
2 Problem Formulation
2.1 Autonomous Systems
2.2 Visual Sensing Constraint
2.3 Obstacle Model
2.4 Control Objective
3 Controller Design
3.1 Cost Function
3.2 Gradient Decent Like Control Design
4 Simulation
5 Conclusion
References
A Visual Path Planning Framework Based on Path Search Area
1 Introduction
2 Visible Area
3 Path Search Area
4 Path Planning Framework
4.1 Enumeration Optimization
4.2 Monotonic Genetic Algorithm
5 Simulation Results
6 Conclusion
References
Structural Design and Gait Planning of Hydraulic Humanoid Biped Robots
1 Introduction
1.1 Research Background
1.2 Main Content
2 Structural Design
3 Method
3.1 3d-Lipm
3.2 Hierarchical Control Structure
3.3 Generate the Trajectory
4 Simulation Result
5 Conclusion
References
High-order Sliding Mode Formation Control of Multiple Aerial Robotic Vehicle Systems with Time-Varying Disturbances
1 Introduction
2 Problem Formulation
2.1 Dynamics of ARV
2.2 Formation Constraint
2.3 CCSC Strategy
3 Main Results
4 Numerical Simulation
5 Conclusions
References
Prescribed-Time Multi-target Tracking Control for Second-Order Multi-agent Systems
1 Introduction
2 Problem Formulation and Preliminaries
2.1 Graph Theory
2.2 Problem Formulation
2.3 Preliminaries
3 Main Results
3.1 Prescribed-Time Multi-target Tracking Control Algorithm
3.2 Analysis for Prescribed-Time Multi-target Tracking
4 Simulation Results
5 Conclusion
References
Prescribed-Time Time-Varying Formation Control for Multiple USVs
1 Introduction
2 Problem Formulation and Preliminaries
3 Main Results
3.1 Design of PTDO
3.2 Controller Design and Stability Analysis
4 Simulation Results
5 Conclusions
References
Observer-Based Tracking Control for Linear Switched Multiagent Systems with a Leader of Nonzero Inputs
1 Introduction
2 Problem Formulation
3 Main Results
3.1 Tracking Control with Discontinuous Function v()
3.2 Tracking Control with Continuous Function v()
4 Numerical Simulation
5 Conclusion
References
Consensus Analysis for Nonlinear Multi-agent Systems via Event-Triggered Impulsive Strategy Based on Observer
1 Introduction
2 Problem Formulation
3 Main Results
3.1 Consensus with Leader
3.2 Consensus Without Leader
4 Numerical Simulation
5 Conclusion
References
Large-Scale Multi-robot Collaborative Localization with Relative Observations
1 Introduction
2 Problem Formulation
3 Cooperative Localization
3.1 Acyclic Graph Case
3.2 Cyclic Graph Case
4 Experiments and Analysis
4.1 Simulation Results of Acyclic Communication Graph
4.2 Simulation Results of Cyclic Communication Graph
5 Conclusion
References
Optimal Group Consensus Control for Multi-agent Systems in Coopetition Networks via Dynamic Event-Triggered Methods
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 Problems Statement
3 Main Results
3.1 Event-Triggered Framework
3.2 Implementation of the ADP Method
3.3 Stability Analysis
4 Simulation
5 Conclusion
References
Secure Control of Uncertain Multi-agent Systems Under Cyber Attacks
1 Introduction
2 Preliminaries
3 Main Result
3.1 Design of Consensus Protocol
3.2 Consensus Analysis
4 An Illustrative Example
5 Conclusion
References
Distributed Guidance Strategy with an Appointed Cooperative Time over Directed Network
1 Introduction
2 Cooperative Guidance Strategy Design
2.1 Dynamics Model
2.2 Interaction Model
2.3 Strategy Description
3 Convergence Result Analysis
4 Simulation
5 Conclusions
References
Stability Analysis of Distributed Optimization for Multi-agent Systems Under Time-Varying Digraphs
1 Introduction
2 Preliminaries
2.1 Hybrid Systems
2.2 Graph Theory
2.3 Convex Analysis
2.4 Problem Formulation
3 Distributed Coordination Protocol over Time-Varying Topologies
4 Convergence Analysis
5 Simulations
6 Conclusions
References
Distributed Attitude Coordinated Control for Spacecraft Formation Flying with Unknown Disturbances Via Sliding Mode Control
1 Introduction
2 Preliminaries
2.1 Notations
2.2 Graph Theory
2.3 Spacecraft Mathematical Model
2.4 Control Objective
3 Main Results
4 Simulation
5 Conclusion
References
A Hardware-in-the-Loop Simulation Platform for UAV Swarm Decision-Making
1 Introduction
2 Construction of HIL Simulation Platform for UAV Swarm
2.1 Swarm Decision-Making Module
2.2 Multi-UAV Communication Module
3 HIL Simulation Test of Multi-UAV
3.1 Alignment
3.2 Cohesion
3.3 Separation
4 Conclusion
References
Online Task Assignment Method of Multi-aircraft Based on Decreasing Pheromone Ant Colony Algorithm
1 Introduction
2 Problem Modeling
2.1 Constraint Model
2.2 Evaluation Index Model
3 Online Task Assignment Algorithm
3.1 Algorithm Ideas
3.2 Selection Strategy Based on Roulette
3.3 Update Method of Pheromone Decrement
3.4 Algorithm Process
4 Simulation Analysis
5 Conclusion
References
IMFlySim: A High-Fidelity Simulation Platform for UAV Swarms
1 Introduction
2 Architecture of IMFlySim
2.1 Single-Node Structure
2.2 Multi-node Simulation
3 Experiments
3.1 Flight Experiments
3.2 Formation Experiments
4 Conclusion and Future Work
References
Task Allocation of Multi-robot Coalition Formation
1 Introduction
2 Modeling of Resource Constrained Multi-robot System
2.1 Resource Modeling
2.2 Robot Modeling
2.3 Task Modeling
2.4 Priority Modeling
2.5 Utility Modeling
3 Coalition Formation Algorithm
3.1 Determining Task Priority (Line 2)
3.2 Selecting Qualified Robots (Lines 3-8)
3.3 Finding the Robots with the Highest Utility (Lines 10-18)
3.4 Forming the Coalition of Robots (Lines 22-23)
3.5 Controlling Cycle Conditions (Lines 24-30)
4 Simulations
5 Conclusions
References
Trajectory Recognition of Unmanned Aerial Vehicles Based on LSTM Network
1 Introduction
2 UAVs' Standard Trajectories
3 LSTM Network
4 Experiments
5 Conclusion
References
MADDPG: Multi-agent Deep Deterministic Policy Gradient Algorithm for Formation Elliptical Encirclement and Collision Avoidance
1 Introduction
2 Problem Formulation
3 The Proposed Approach
3.1 Reinforcement Learning Environment
3.2 Structure of Neural Networks
3.3 Reward Design
4 Experimental Results and Analysis
4.1 Case I: Formation Elliptical Encirclement with a Moving Target
4.2 Case II: Formation Circular Encirclement with a Moving Target and Landmarks
5 Conclusion and Future Work
References
Dynamic Evasive Strategy of UAV Swarm Active Interception
1 Introduction
2 Scene Design and Problem Formulation
3 UAV Evasive Strategy Based on Speed Obstacle Method
3.1 Speed Obstacle Method
3.2 Attacker's Avoidance of Dynamic Obstacles
3.3 Algorithm
4 The Simulation Results
5 Conclusion
References
A Kind of Obstacle Avoidance Method for UAV Swarm
1 Introduction
2 Notation and Preliminaries
2.1 Graph Theory
2.2 UAV Motion Model
3 Swarm Obstacle Avoidance Method
3.1 Alliance Formation
3.2 Design of Obstacle Avoidance Method
3.3 Design of Control Law
4 Simulation Verification and Analysis
5 Conclusion
References
UAV Target Detection Algorithm Based on Improved YOLOv4
1 UAV Target Detection Based on YOLOv4
1.1 YOLOv4 Algorithm
1.2 UAV Dataset
1.3 Evaluation Index
2 Improvement of UAV Detection Algorithm Based on YOLOv4
2.1 Anchor Template Learning Based on K-means++ Clustering
2.2 IoU Loss Function
3 Analysis of Experimental Results
3.1 K-means++ Experiment
3.2 Ignore Threshold Experiment
3.3 IoU Threshold Experiment
3.4 Overall Comparison of Ablation Experiments
3.5 Performance Comparisons with Other Baselines
4 Conclusion
References
Extended ADMM with Paillier Cryptosystem for Nonsmooth Decentralized Optimization
1 Introduction
2 Extended Proximal ADMM
3 Linear Convergence
4 Privacy Preservation
5 Numerical Simulations
6 Conclusion
References
Event-Based Prescribed Performance Fuzzy Adaptive Containment Control for Multi-agent Systems with Unknown Control Direction and Sensor Faults
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Graph Theory
2.2 Problem Formulation
2.3 Adaptive Fuzzy Event-Triggered Containment Control
3 Stability Analysis
4 Simulation Results
5 Conclusion
References
Differential Backstepping Control for Quadrotor Aircraft
1 Introduction
2 Quadrotor Model
3 Main Results
3.1 Position Control
3.2 Attitude Control
4 Numerical Simulations
4.1 Low Order Trajectory Tracking
4.2 High Order Trajectory Tracking
5 Conclusion
References
Iterative Learning Consensus Tracking Control for Multi-agent Systems with Neighboring Agents' Average Control Inputs
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Preliminaries
2.2 Problem Formulation
3 Consensus Algorithm and Convergence Analysis
4 Simulation Example
5 Conclusion
References
Distributed Consensus Control for Multi-UAV Systems with Uncertain Gains Under Gust Winds
1 Introduction
2 Problem Formulation
3 Main Results
3.1 Graph Theory
3.2 Nonlinear SMO
3.3 Distributed Consensus Controller
4 Simulation Results
5 Conclusion
References
A New Technology of Sidelobe Suppression Based on Cluster Formation Optimization
1 Introduction
2 Wide-area Distributed Coherent Synthesis Mechanism
3 Wide-area Distributed Coherent Synthesis Characteristics
4 Sidelobe Suppression Technology Based on Formation Optimization
5 Experiment
6 Conclusion
References
Unified Technology of Battlefield Target Recognition Information Based on Group Operations
1 Introduction
2 Cluster Architecture Analysis
2.1 Centralized Architecture
2.2 Distributed Architecture
2.3 Hybrid Architecture
3 Comparative Analysis of the Three Architectures
3.1 Analysis of Communication Data Volume
3.2 Computational Complexity Analysis
3.3 Architecture Robustness Analysis
3.4 Analysis of the Degree of Influence by Communication
4 Algorithm Analysis
5 Experiment
5.1 Cluster Formation-Level Target Recognition Simulation
5.2 Consistency Simulation of Cluster Target Recognition Results
6 Conclusion
References
Dynamic Target Search of UAV Swarm Based on Improved Pigeon-Inspired Optimization
1 Introduction
2 Preliminaries
2.1 Problem Description
2.2 Coverage Distribution Map
2.3 Target Probability Map
2.4 Digital Pheromone Map
2.5 UAV Search Mission Optimization Model
3 Improved Pigeon-Inspired Optimization Algorithm
4 Simulation Results and Analysis
5 Conclusions
References
Similar Formation Problem with Biased Random Measurement Errors
1 Introduction
2 System Model
3 Improved Discrete-Time Similar Formation Algorithm
4 Globally Mean-Square Convergence of the Improved Discrete-Time Similar Formation Algorithm
5 Numerical Simulation
6 Conclusion
References
Distributed Switching Time Optimization for Interconnected Switched Systems
1 Introduction
2 Problem Statement
2.1 Switching Time Optimization for Switched Systems
2.2 Switching Time Optimization for Interconnected Switched Systems
3 Main Results
3.1 Distributed Switching Time Optimization via Dual Optimization
3.2 Distributed Switching Time Optimization via State Feedback Control
4 Conclusion
References
Cluster Consensus Based on Impulsive Control in Nonlinear Multi-agent System with Switching Topology
1 Introduction
2 Preliminary Knowledge and System Model
2.1 Graph Theory
2.2 Multi-agent System
2.3 Control Objective
3 Consensus Problems Based on Impulsive Mechanism with Switching Topology
4 Simulations
5 Conclusion
References
Trajectory Planning Technology of UAV Swarm Cooperative Stealth Based on Formation Control
1 Introduction
2 The Electromagnetic Scattering Model of UAV Swarm
3 Probabilistic Model of Radar Detection for UAV Swarm
4 Trajectory Planning Algorithm for UAV Swarm Cooperative Stealth
4.1 UAV Swarm Cooperative Stealth Algorithm for Each Trajectory Segment
4.2 Trajectory Planning Algorithm for UAV Swarm
5 Simulation and Analysis
5.1 Simulation and Analysis of UAV Swarm Trajectory Planning
5.2 Simulation and Analysis of Cooperative Stealth of UAV Swarm Formation
6 Conclusion
References
A Fast and Robust Multiple Individuals Tracking Algorithm Based on Artificial Neural Networks
1 Introduction
2 Materials and Method
2.1 The Proposed Detection and Tracking Method
2.2 Data Acquisition
2.3 Target Detection
2.4 Data Association
3 Results
3.1 Evaluation of Detection Performance
3.2 Evaluation of Tracking Performance
3.3 Evaluation of Efficiency
4 Conclusions
References
Leader-Follower Consensus of Second-Order Multi-agent Systems Based on Event-Triggered Sliding Mode Control
1 Introduction
2 Preliminaries and Problem Statement
2.1 Preliminaries
2.2 Problem Statements
3 Numerical Examples
4 Conclusion
References
Formation Reconfiguration Hovering Technique for Underactuated Satellite
1 Introduction
2 Preliminary
2.1 Dynamical and Controllability Analysis
2.2 Feasible Initial Position
3 Controller Design and Convergence Analysis
3.1 Closed-loop Controller
3.2 Convergence Analysis
4 Numerical Simulations
5 Conclusions
References
Cooperative Task Assignment and Path Planning via an A*-Market-Based Algorithm
1 Introduction
2 Problem Formulation
3 A*-Market-Based Design
3.1 Market-Based Task Allocation
3.2 A* Algorithm Path Planning
3.3 Cooperative Tasks
4 Experiment
4.1 Independent Welding Tasks
4.2 Cooperative Welding Tasks
5 Conclusion
References
An Improved Sequential Convex Programming Method for Spacecraft Swarm Reconfiguration
1 Introduction
2 Problem Formulation
2.1 The Swarm Reconfiguration Problem
2.2 The Convexification of Collision Avoidance Constraints
3 The Sequential Convex Programming
4 Numerical Simulations
5 Conclusion
References
Resilient Time-Varying Formation Control of Second-Order Discrete-Time Multi-agent Systems with Actuator Faults and Attacks on Communication Link
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Basic Concepts of Graph Theory
2.2 Definition of Time-Varying Formation
2.3 Attack Model
2.4 Faults and Disturbances Model
3 Main Results
3.1 Overall Structure of the Proposed Approach
3.2 Formation Protocol for Target Observers
3.3 Actuator Fault Estimation and Compensation
4 Simulation
5 Conclusion
References
An Effective and Scalable Approach for Swarm-on-Swarm Air Combat Decision
1 Introduction
2 Preliminaries
2.1 Problem Statement
2.2 Aircraft Motion Model
2.3 Air Combat Situation
3 Swarm Target Assignment
4 Autonomous Air Combat Decision
5 Experiments
5.1 Comparison to Other Versions in Clustering Algorithms
5.2 Comparison to Other Algorithms in One-to-One Air Combat Domain
6 Conclusion
References
A Volume Compression Algorithm for Social Force Based Fish Swarm by Four Predators
1 Introduction
2 Task Description
3 Algorithm
4 Simulation
4.1 The Simulation of the Model of Fish
4.2 The Simulation of the Compression of Fish
5 Conclusions
References
Maximum-Relevance and Maximum-Complementarity Feature Selection with Random Forest
1 Introduction
2 The Information-Theoretical Framework for Feature Selection
2.1 The Relevant Information of Features
2.2 The Redundant Information Within Features
3 Maximum-Relevance and Maximum-Complementarity Feature Selection
3.1 The Complementary Information of Features
3.2 Maximum-Relevance and Maximum-Complementarity Based Feature Selection
3.3 Mining the Feature Complementarity with Random Forest
4 Experiment and Discussion
4.1 Datasets and Algorithms for Comparison
4.2 Evaluation Metrics
4.3 Results and Discussion
5 Conclusions
References
An Improved Distributed Optimization Algorithm over Unbalanced Directed Graph
1 Introduction
2 Graph Theory Foundation and Problem Description
3 Algorithm Design
4 Algorithm Convergence Analysis
5 Analysis of Convergence Results
6 Numerical Experiment
7 Conclusion
References
Cooperative Search-Track Mission Planning for Multi-UAV Based on a Distributed Approach in Uncertain Environment
1 Introduction
2 Problem
2.1 Uncertainty Map Model
2.2 Mission Model of UAVs
3 Approach
3.1 Design of Fitness Function
3.2 State Update Mechanism
4 Experiments
4.1 Task Scenario and Parameters
4.2 Search Efficiency Analysis
4.3 Task Allocation and Tracking Efficiency Analysis
5 Conclusion
References
PDE-ODE Based Consensus and Stability Control of Multi-agent System with Input Delay
1 Introduction
2 Modelling and Controlling
2.1 Modelling Multi-agent System by PDE-ODE
2.2 Controller Design
3 Numerical Simulation
4 Conclusion
References
Solving the Dynamic Sensor/Weapon-Target Assignment Problem by Generation Strategy Optimization
1 Introduction
2 DSWTA Problem Formulation
3 Generation Strategy Optimization
3.1 Solution Procedures and Constraints Handling
3.2 Algorithm Complexity Analysis
4 Experimental Studies
5 Conclusion
References
Multi-agent Reinforcement Learning for a Special Formation Problem
1 Introduction
2 Problem Modeling
2.1 UAVs Model
2.2 Target Position of Formation
2.3 Completion Standard
3 Related Algorithm Background
3.1 Policy Gradient (PG) Algorithm
3.2 DDPG Algorithm
3.3 MADDPG Algorithm
4 MF-DDPG
4.1 Mean Field DDPG
4.2 The Description of States and Action
4.3 Reward Function
5 Experimental Study
5.1 Training Parameters
5.2 Experimental Result and Analysis
6 Conclusions
References
Bipartite Consensus for Discrete-Time Signed Networks Subject to Saturation Constraints
1 Introduction
2 Preliminaries
3 Problem Statements
4 Main Results
5 Simulations
6 Conclusions
References
A Fish Swarm Model Based on Neighbor and Leader-Follower
1 Introduction
2 Methods
2.1 Couzin's Model
2.2 Individual Direction Updating Rule Based on Number of Neighbors
2.3 Leader-Follower Individual Direction Updating Rule Based on Social Information
3 Experiments and Results
3.1 Environment
3.2 Quantitative Performance
3.3 Results
4 Conclusions
References
Artificial Intelligence-Assisted Spacecraft Swarm Reconfiguration Planning
1 Introduction
2 Neural Network Structure Design and Training Method
2.1 Structure Design of the BP Neural Network
2.2 Neural Network Training for Collision Evaluation
2.3 Neural Network Training for Collision Area Recognition
3 Neural Network-Assisted Large-Scale Swarm Reconfiguration Planning Method
4 Numerical Simulation
5 Conclusion
References
Fully Distributed Nash Equilibrium Seeking Algorithm with Quantization Effects in a Directed Graph
1 Introduction
2 Problem State
3 Algorithm Design
3.1 Quantization Scheme Design
3.2 Distributed and Quantized Algorithm Design
4 Simulation
5 Conclusions
6 Appendix
References
A Fusion Method of 3D Object Detection Graph Neural Network Based on Local and Global Data Augmentation
1 Introduction
2 Related Works
3 Proposed Method
3.1 Self-adaptive Multi-scale Voxel Downsampling Method
3.2 Multi-step Graph Construction
3.3 Fusion of the Self-attention and Visibility Feature
4 Experiments
4.1 Data Augmentation
4.2 Implementation Details
4.3 Ablation Study
4.4 Results
5 Conclusion
References
A P2P Based Energy Trading Approach
1 Introduction
2 Problem Formulation
2.1 System Model
2.2 Optimization Problem Formulation
2.3 Determination of the Optimal Strategy
3 P2P Trading Mechanism
4 Simulation Studies
4.1 Simulation Setup
4.2 Simulation Results
5 Conclusion
References
Adaptive Resilient Formation for Multi-agent Systems Subject to Cyber Attacks
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 System Description
2.3 Attacks Description
3 Formation Protocol
4 Stability Analysis
5 Analysis of Simulation Results
6 Conclusion
References
Cooperative Path Planning Algorithm of UAV in Urban Environment Based on Improved Pigeon Swarm Algorithm
1 Introduction
2 Cooperative Path Planning Method Based on Cauchy Mutation Pigeon Swarm Intelligence Algorithm (ECM-PIO)
2.1 Geomagnetic Optimization Stage with Cauchy Mutation Operator
2.2 Landmark Optimization Stage with Cauchy Mutation Operator
2.3 ECM-PIO Process Including Path Smoothing
3 Selection Method of Cooperative Path in Complex Environment
3.1 Single Path Evaluation Function
3.2 Multi UAV Cooperative Path Evaluation Method
3.3 Dynamic Response Mechanism in Emergency
4 Simulation Results and Analysis
5 Conclusion
References
Hierarchical Formation by the Cooperative Output Regulation Approach
1 Introduction
2 Problem Formation
3 Main Result
4 Example
5 Conclusion
References
Collision-Free Formation Control for Multiple Quadrotors Subject to Switching Topologies
1 Introduction
2 Problems Statement
3 Formation Control and Collision Avoidance Mechanism Design
3.1 Formation Control Protocol
3.2 Collision Avoidance Mechanism
4 Simulation and Flight Experiment
5 Conclusion
References
Robust Fault-Tolerant Formation Control for Multiple UAVs Under Bounded Actuator Faults
1 Introduction
2 RUAV Dynamic Model and Analysis
3 Robust Fault-Tolerant Formation Control
3.1 Outer-Loop Formation Guidance
3.2 Inner-Loop Robust FTC
4 Simulation Validation
5 Conclusion
References
Collaborative Perception for Autonomous Driving: Current Status and Future Trend
1 Introduction and Motivation
2 Collaboration Mode: When and What to Collaboration
2.1 Early Collaboration
2.2 Late Collaboration
2.3 Intermediate Collaboration
2.4 Mixed Collaboration
3 Key Ingredients of Collaborative Perception Technology
3.1 Collaboration Graph
3.2 Pose Alignment
3.3 Information Fusion
3.4 Resource Allocation with Reinforcement Learning
4 Applications of Collaborative Perception
4.1 Collaborative 3D Object Detection
4.2 Collaborative Semantic Segmentation of 3D Scenes
5 Open Challenges and Issues
5.1 Communication Robustness
5.2 Heterogeneous and Cross-Modality
5.3 Large-Scale Dataset
6 Conclusion
References
Observer-Based Leader-Following Consensus of Heterogeneous Multi-agent Systems with Intermittent Communication
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Graph Theory
2.2 Problem Statement
3 Main Results
3.1 Distributed Observer Design
3.2 Observer-Based Consensus Controller Design
4 Simulation Example
5 Conclusion
References
A Self-organized Circular Formation Algorithm for Planar Robot Swarm
1 Introduction
2 Problem Formulation
3 Algorithm
4 Simulation
References
Multi-target Capturing Algorithm of Multiple Robots in Dynamic Environment
1 Introduction
2 Improvement of Artificial Potential Field Method
2.1 Motion Model Analysis
2.2 Improvement of Traditional Artificial Potential Field Method
3 Rounding up Process Analysis
3.1 Multi-robot Grouping
3.2 Target Round Up in Group
4 Simulation Results
4.1 Simulation of Artificial Potential Field Method in Dynamic Environment
4.2 Simulation Process on MobileSim Platform
5 Conclusion
References
Distributed Coordinated Robust Optimal Scheduling of Multi-EH-Based Integrated Energy System
1 Introduction
2 Problem Formulation
2.1 Objective Function of IES
2.2 Constraints of IES
3 Distributed and Robust Methods
3.1 Two Stage Robust Optimization Model
3.2 Distributed Optimization Model
3.3 Solving Procedure
4 Case Study
4.1 Experimental Data Setting
4.2 Performance of TRO Scheduling Strategy
4.3 Effectiveness of Distributed Optimal Scheduling Strategy
5 Conclusion
References
Intelligent Decision-Making Method for On-Orbit Service with Multiple Geosynchronous Earth Orbit Targets Based on Reinforcement Learning
1 Introduction
2 Problem Formulation
3 Offline Orbit Optimization and Fitting Based on RBFNN
3.1 Transfer Orbit Designed by Solving Lambert Problem
3.2 Transfer Orbit Optimization
3.3 Optimal Transfer Orbit Fitting by RBFNN
4 Intelligent Online Decision-Making Based on Reinforcement Learning
4.1 Online Decision-Making Problem Formulation
4.2 Online Decision-Making Optimization Based on Q-learning
5 Simulation Analyse
5.1 Offline Orbit Optimization and Fitting
5.2 Online Intelligent Decision-Making
6 Conclusion
References
Cluster Evaluation Method Based on Multi-agent Deduction and Complex Network Technology
1 Introduction
2 Overview of Multi-agent Simulation Modeling Methods
2.1 Essential Components of Multi-agent Modeling
2.2 Cluster and Multi-agent Model
3 Overview of Complex Network Assessment Methods
3.1 The Complex Network Modeling Method
3.2 Complex Network Evaluation Indicators
4 Complex Network Evaluation Process Based on Multi-agent Simulation
5 Case Study
6 Summary
References
Differentially Private Distributed Online Linear Regression over a Time-Varying Network
1 Introduction
2 Problem Setting and Algorithm Description
3 Main Results
4 Simulation
5 Conclusions
References
Cooperative Localization Algorithm of Multiple Spacecraft with Angle-Only Measurements
1 Introduction
2 Problem Statement
2.1 State Equation
2.2 Measurement Equation
3 Positioning Algorithm Based on Geometric Characteristics
3.1 Three Points Positioning Method Based on Angle and Distance
3.2 Cubature Kalman Filtering Algorithm
4 Simulation Result
5 Conclusion
References
Discover Causality of Battlefield Sequential Events Based on THPM Algorithm
1 Introduction
2 Preliminary and Problem Formalization
2.1 Hawkes Process
2.2 Graph Convolution
2.3 Problem Formalization
3 Experiments
3.1 Datasets
3.2 Flowchart of Prediction Experiment
3.3 Experiment Results
4 Conclusion
References
Multi-target Passive Localization Algorithm Based on UAV Clusters
1 Introduction
2 The Passive Localization Mechanism of a Single Target by a UAV Cluster
2.1 Scene Model
2.2 Principle of PLE Method
2.3 Principle of WPLE Method
2.4 Principle of MLE Method
2.5 Cramer-Rao Lower Bound Calculation
3 Resource Allocation Method Based on Greedy Algorithm
4 Passive Localization Algorithm Flow of UAV Clusters for Multi-target
5 Simulation Result Analysis
5.1 System Performance Analysis
5.2 Performance Comparison of Different Passive Localization Methods
6 Conclusion
References
Research on Cluster Network Scheduling Mechanism Based on TDMA-MDGP
1 Introduction
2 Synergy Between Polling Data Frames and Non-polling Data Frames
2.1 Synergy Between Polling Data Frames and Non-polling Data Frames
2.2 Slot Scheduling Period of Unmanned Combat Cluster
2.3 Selection of Communication Full-Slot Scheduling Period
3 Node-Oriented Hybrid Slot Allocation Algorithm
3.1 Node Control Mechanism
3.2 Algorithm Performance Analysis
4 Conclusion
References
Optimal Hybrid Attacks Scheduling on Remote State Estimation with Energy Constraint
1 Introduction
2 Problem Formulation
2.1 System Model
2.2 Attack Strategy
2.3 Problems of Interest
3 Optimal Hybrid Attacks Schedules Analysis
3.1 Preliminaries
3.2 Optimal Hybrid Attacks Scheduling
4 Simulations
5 Conclusion
References
Quasi-Synchronization of Heterogeneous Harmonic Oscillator Networks via Event-Triggered Control
1 Introduction
2 Preliminaries
2.1 Notations
2.2 Graph Theory
2.3 Related Lemmas
3 Problem Formulations
4 Main Results
5 Simulations
6 Conclusions
References
Formation Control of Multi-robots Using Backstepping Sliding Mode Control
1 Introduction
2 Modeling
3 Control Design
4 Simulation Results
4.1 Topological Graph
4.2 Case 1: Circular Formation
4.3 Case 2: Curvilinear Formation
5 Conclusion
References
Effectiveness Evaluation Method of the Unmanned Aerial Vehicle Swarm Considering Mission Process
1 Introduction
2 Establishment of Effectiveness Indicators System
2.1 Establishment of Indicators System Framework
2.2 Selection of the UAV Swarm Effectiveness Indicators
3 Complex Network Modeling by Considering Effectiveness
3.1 Modeling Method Based on Mission Process
3.2 Modeling Method by Considering Single-Item Effectiveness
4 Effectiveness Evaluation Method
4.1 Single-Item Effectiveness Evaluation
4.2 Emerging Effectiveness Evaluation
4.3 Mission Effectiveness Evaluation
5 Case Study
5.1 Model Description
5.2 Effectiveness Indicators Configuration
5.3 Effectiveness Evaluation
6 Conclusions and Future Work
References
Privacy-Preserving Nash Equilibrium Seeking Algorithm over Directed Graph
1 Introduction
2 Setup and Preliminaries
2.1 The Game
2.2 Graph Description
2.3 Differential Privacy
2.4 Partial-Decision Information Setting
3 Privacy Preserving Distributed Nash Equilibrium Seeking Under Partial-Decision Information
4 Numerical Result
4.1 Convergence Analysis
4.2 Differential Privacy
5 Conclusions
References
Sliding Mode Attitude Control for a QUAV Based on a Nonlinear Disturbance Observer
1 Introduction
2 Problem Description and Preliminaries
3 Robust Attitude Tracking Control Based on the Disturbance Observe
3.1 The Design of Second Order Disturbance Observer
3.2 The Design of Attitude Controller
3.3 Stability Analysis
4 Simulations and Experimental Results
4.1 Simulations
4.2 Flight Experiment
5 Conclusion
References
Composite Anti-disturbance Tracking Control for Unmanned Autonomous Helicopter Using Neural Network and Extended State Observer
1 Introduction
2 Problem Description and Preparation
3 Composite Anti-disturbance Control Design and Stability Analysis
3.1 The Design of ESO
3.2 NN-Based Robust Tracking Control Design
3.3 Stability Analysis
4 Simulation Study
5 Conclusion
References
A Cooperative Search Method for Multiple UAVs in a Complex Environment with No-Fly Zone Areas
1 Introduction
2 Problem Description
2.1 UAV Movement Model
2.2 Forces Applied on UAV
2.3 Search Area Division for UAVs
3 Improvement to the Artificial Potential Field Method
3.1 Improved Repulsion Field Function
3.2 Local Minima Escape Strategy
3.3 Steps for the Improved Path Planning Algorithm
4 Cooperative Search Strategy
5 Simulations
6 Conclusion
References
Autonomous Flight for Multi-UAV in GPS-Denied Environment
1 Introduction
2 Related Work
2.1 Relative State Estimation
2.2 Motion Planning
3 System Overview
4 Relative State Estimation System
4.1 Odometry Factor
4.2 Place Recognition Factor
4.3 Optimization
5 Motion Planning System
5.1 Priority-Based RRT
5.2 Local Trajectory Planning and Reciprocal Collision Avoidance
6 Experiments
6.1 Relative State Estimation Experiment
6.2 Simulation Test of Motion Planning
6.3 Multi-UAV Autonomous Flight Experiment
7 Conclusion
References
Multi-robot Coverage System Based on Health Optimization Management Algorithm
1 Introduction
2 Description of Algorithm
3 Distributed Coverage System Control and Health Optimization Management
4 Simulation and Result Analysis
4.1 Multi-robot Coverage Simulation Based on CVT Algorithm
4.2 Cover HOM Simulation
5 Summarize
References
A Finite-Time Posture Control Strategy for the Swarm Underactuated Robots
1 Introduction
2 Preparations
2.1 Model
2.2 Underactuated Constraint Analysis
3 Trajectory Planning
4 Controller Design
5 Simulations
6 Conclusions
References
Multi-UAV Cooperative Moving Target Search Based on Improved Pigeon-Inspired Optimization
1 Introduction
2 Problem Description
3 Moving Target Information Graph
3.1 Probability Distribution Information Graph
3.2 Environment Determination Graph
3.3 Digital Pheromone Graph
4 Decision-Making of Multi-UAV Cooperative Search
4.1 Cooperative Search Objective Function
4.2 Improved Pigeon-Inspired Optimization
4.3 Decision-Making Steps
5 Simulation
6 Conclusion
References
Hierarchical Planning Strategy Based on Differential Game for UAV Swarm
1 Introduction
2 Hierarchical Planning Algorithm Based on Differential Game
2.1 Improved D* Global Planning Algorithm Based on NDEM
2.2 Local Planning Based on Differential Game
3 Experiment
4 Conclusion
References
Substation Knife Switch Status Detection System Based on Wireless Photoelectric Sensor
1 Introduction
2 Knife Switch Status Detection Device Based on Wireless Photoelectric Sensor
2.1 Structure of Knife Switch Status Detection Device
2.2 Wiring of Knife Switch Status Detection Device
3 Knife Switch State Detection Method of Wireless Photoelectric Sensing
3.1 Flow of Knife Switch Status Detection by Wireless Photoelectric Sensing
3.2 Switch State Data Fusion Analysis of Wireless Photoelectric Sensor
4 Experiment
4.1 Anti-interference Experiment of Knife Switch Status Detection Device
4.2 Experiments on Fusion of Photoelectric Sensing Data Based on Weighted Confidence Entropy and Logistic Regression
5 Conclusions
References
An Obstacle Avoidance Algorithm Based on the Speed Cone and Artificial Potential Field Method
1 Introduction
2 Problem Description
3 Avoidance Methods
3.1 Analysis of Dynamic Obstacle Avoidance
3.2 Analysis of Obstacle Avoidance in a Static Environment
3.3 Obstacle Avoidance Factor in a Formation
4 Results Analysis
4.1 Dynamic Obstacle Avoidance
4.2 Obstacle Avoidance in a Static Environment
4.3 Obstacle Avoidance in a Formation
5 Conclusion
References
Adaptive Consensus-Based Unscented Information Filter for Distributed Space Target Tracking
1 Introduction
2 Design of the Proposed Filter
2.1 Brief Review of Consensus-Based Unscented Information Filter
2.2 Innovation Anomaly Detection
2.3 Adaptive Consensus-Based Unscented Information Filter
3 Simulations
4 Conclusions
References
Node Coupling for Inferring Networks from Short Time Series
1 Introduction
2 SSSM Architecture
2.1 Problem Definition
2.2 Slope Sum Similarity Method
3 Experiments and Results
3.1 Kendall's Rank Correlation Coefficient
3.2 Experiments with Different Weights
3.3 Example Demonstration of SSSM Calculation
3.4 Comparative Experiment
4 Conclusion
References
Vehicle Platoon Control Based on Information Exchanges in Internet of Vehicles
1 Introduction
2 System Modeling
2.1 Longitudinal Control
2.2 Hierarchical Control System
2.3 Vehicle Spacing Control Strategy
2.4 Vehicle Model
3 Algorithm Design
3.1 Predecessor Following
3.2 Predecessor Leader Following
3.3 Noise Filtering Based on Time Series Analysis
4 Simulation
4.1 Topology of PF
4.2 Topology of PLF
4.3 Interference
5 Conclusion
References
An Advanced Persistent Threats Detection Method Based on Deep Reinforcement Learning
1 Introduction
2 Game Model
2.1 State Space
2.2 Action Spaces
2.3 Policies of the Players
2.4 Payoffs to the Players
3 Computation of Optimal Strategy
3.1 Solution Concept
3.2 Solution Approach
4 Experiments
5 Conclusion
References
A Modified Brain Storm Optimization Based Distributed Model Predictive Control Method for Formation Control of Multiple UAVs
1 Introduction
2 Modified BSO Based Distributed MPC Method
2.1 Model
2.2 Distributed MPC
2.3 Modified BSO
2.4 Cost Functions and Trigger Mechanism
3 Numerical Simulations
4 Conclusions
References
Integral Reinforcement Learning-Based H Tracking Control for Uncertain Linear Systems and Its Application
1 Introduction
2 Problem Description
3 Controller Design
3.1 Integral Sliding Mode Control Design
3.2 Off-Policy IRL-Based H Control Design
4 Simulation Results
5 Conclusions
References
Hierarchical Flocking Based on a Strictly Metric-Free Model with Restricted Visual Field
1 Introduction
2 Strictly Metric-Free Model with Restricted Visual Field and Hierarchy
2.1 Model Expression
2.2 Simulation Platform
3 Simulation Design and Analysis of Experimental Results
4 Discussion and Conclusion
References
Self-adversarial Network Based on MADDPG for Emergency Power Dispatch
1 Introductions
2 Related Work
3 Proposed Method
3.1 Self-adversarial Network
3.2 Information Interaction Network with Self-attention
4 Experiments
4.1 The Environment of Multi-agent
4.2 Experiments and Analysis
4.3 Performance Tests at Different Difficulty Levels
5 Conclusions
References
Nonlinear Formation Control of Perturbed Nonholonomic Unicycles with Bearing-Only Measurements
1 Introduction
2 Problem Description
3 Globally Stable Controller Design
4 Global Stability Analysis
5 Simulation Results
References
Topologically Ordered Self Organizing Map for Optimal Allocation of Urban Emergency Mobile Power Supply
1 Introduction
2 Related Work
2.1 Route Planning
2.2 Self Organizing Map for Route Planning
3 Method
3.1 Basic Idea
3.2 Proposed Approach
4 Experiment
4.1 Dataset
4.2 Experiment Settings
4.3 Comparative Results
5 Conclusion
References
Mean-Square Stabilizability of Low-Order Systems Against Correlated Stochastic Multiplicative Uncertainties
1 Introduction
2 Problem Formulation and Preliminaries
2.1 Structured Multiplicative Uncertainty
2.2 Mean-Square Stability
3 Main Results
3.1 Multiplicative and Divisive Uncertainties
3.2 Two-Agent System
4 Illustrative Example
5 Conclusion
References
Distributed Optimization Problem of Second-Order Multi-agent Systems via Event-Triggered Proportion-Integration-Differentiation Algorithm
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 Problem Formulation
3 Distributed Event-Triggered PID Algorithm
4 A Numerical Example
5 Conclusion
References
Research on Target and Firepower Allocation of Multi-platform Anti-ship Missiles Under Constraints
1 Introduction
2 Anti-ship Missile Route Planning
2.1 Characteristics of Anti-ship Missile Route Planning
2.2 Geometrical Model of Anti-ship Missile Routes
2.3 Mathematical Model of Anti-ship Missile Route
2.4 The Improved Geometric Viewable Automatic Route Planning Method
2.5 Simulation Analysis
3 Coordinated Target Allocation for Multi-platform Anti-ship Missiles
3.1 Simulation Analysis
4 Weapon-Target Assignment (WTA)
4.1 Multi-objective Allocation Model of WTA
4.2 Objective Function and Constraint Condition of Multi-objective Distribution
4.3 Hybrid Genetic Algorithm for WTA Multi-objective Allocation of Anti-ship Missiles
4.4 Simulation Analysis
5 Conclusion
References
Adaptive Coverage Control for Multi-agent Systems in Unknown Environments
1 Introduction
2 Problem Formulation
3 Distributed Adaptive Coverage Control Algorithm
3.1 Distributed Recursive Least-Squares Estimation Algorithm
3.2 Distributed Coverage Control Law
4 Simulations
5 Conclusion
References
Two-Stage Flocking Formation Control Based on Constrained Boundary
1 Introduction
2 Preliminaries
2.1 Graph Topology of Flocks
2.2 Dynamics of Agents
2.3 Basic Brick: -lattices
2.4 Control Forces
3 Constrained Flocking Formation
3.1 Long Time Convergence
3.2 Constrained Flocking Shape Formation
3.3 Algorithms
4 Experiment
5 Conclusion
References
Exponentially Convergent Distributed Robust Nash Equilibrium Seeking Based on Continuous Disturbance Attenuation Functions
1 Introduction
2 Notations and Preliminaries
2.1 Notations
2.2 Preliminaries
3 Problem Statement
4 Main Results
4.1 The Approximated Signum Function Based Algorithm
4.2 The Saturation Function Based Algorithm
4.3 The Power Function Based Algorithm
5 Simulation Studies
6 Conclusions
References
Consistency Consensus Control of Continuous Multi-agent Systems with Second-order Dynamic and Switching Topology
1 Introduction
2 Preliminaries
2.1 System Dynamics
2.2 Graph Theory
3 Proposed Method
3.1 Controller Design
3.2 System Analysis
4 Simulations
5 Conclusions
References
Leader-Follower Formation Control of Second-Order Multiagent System Based on Fuzzy Logic System
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 System Description and Assumptions
2.3 Fuzzy Logic System
3 Controller Design
4 Simulations
5 Conclusion
References
Cooperative Control Design for Multi-agent System Inspection on Power Substations
1 Introduction
2 Preliminaries
2.1 Mathematical Background
2.2 Problem Formulation
3 Main Results
3.1 Controller Design
3.2 Stability Analysis
4 Simulation Results
4.1 Simulation 1: Narrow Space
4.2 Simulation 2: Consecutive Obstacle Avoidance
4.3 Simulation 3: Simulated Plant Inspection
5 Conclusion
References
Research on Anti-ship Missile Cooperative Trajectory Planning Based on Gauss Pseudospectral Method
1 Introduction
2 Problem Analysis and Model Establishment of Trajectory Planning for Multi-projectile Cooperative Flight
2.1 Difficulties in Trajectory Planning of Multi-projectile Cooperative Flight
2.2 Problem Hypothesis
2.3 Model Building
3 Solving the Problem of Collaborative Ballistic Online Planning Based on the Hierarchical Decomposition Strategy and the Improved Gauss Pseudospectrum Method
3.1 Hierarchical Decomposition Strategy
3.2 Gauss Pseudospectral Method
3.3 Improvement of Gauss Pseudospectrum Method
4 Simulation Verification and Analysis
5 Conclusion
References
Cloud-Based Distributed Leader-Following Consensus for Multi-agent Systems
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 Dynamic Equation of MAS and the Designed Control Protocol
3 Main Result
3.1 Stability Analysis
3.2 Design of Controller Based on Cloud Control
4 Simulation Experiment
5 Conclusion
References
Scalable Distributed Target Tracking with Partially Observation and Limited Communication
1 Introduction
2 Related Works
3 Problem Formulation
4 Method
4.1 Dec-POMDP
4.2 Limited Communication
4.3 Model Training
5 Experiments and Results
5.1 Environment Setting
5.2 Distributed Target Tracking
6 Conclusion and Future Works
References
A Distributed v-GNE Seeking Algorithm for Multi-agent Games over Unbalanced Graphs
1 Introduction
2 Problem Statements and Algorithm GPG
2.1 Preliminaries
2.2 A Game and Its Equilibrium
2.3 Algorithm GPG
3 Analysis of GPG
3.1 Equivalence Analysis
3.2 Convergence Analysis
4 Intermittent Communication
5 Numerical Simulation
6 Conclusion
A Appendix
References
Dynamic Weapon-Target Assignment for Active Protection of Aircraft
1 Introduction
2 Problem Formulation
2.1 Background
2.2 Objectives
2.3 The Model of DWTA
3 Algorithm for DWTA
3.1 Machine Learning Algorithms to Estimate the Objectives
3.2 Solving Procedure
4 Numerical Simulation
4.1 Validation of RF
4.2 Dynamic Weapon Target Assignment
5 Conclusions
References
Three-Dimensional Prescribed Performance Space-Time Cooperative Guidance Law for Intercepting Maneuvering Target
1 Introduction
2 Preliminaries and Problem Formulation
3 Three-Dimensional Adaptive Space Time Constraint Cooperative Guidance Law Design
4 Simulations
5 Conclusions
References
Cooperative Guidance Control with Collision Avoidance and Obstacle Dodging Mechanism
1 Introduction
2 Problem Formulation
2.1 Preliminaries of Interaction Topology
2.2 Interception Model
2.3 Problem Formulation for Secure Cooperative Guidance
3 Proposed Secure Cooperative Guidance Laws
3.1 Design of the Distributed Finite-Time Observer
3.2 Design of Collision Avoidance and Obstacle Dodging Strategy
3.3 Proposed Secure Cooperative Guidance Laws
4 Numerical Simulations
4.1 Example 1: Secure Cooperative Guidance Simulation with Collision Avoidance
4.2 Example 2: Secure Cooperative Guidance Simulation with Obstacle Dodging
5 Conclusions
References
Fault-Tolerant Cooperative Output Regulation for Linear Multi-agent Systems with an Exosystem of Unknown Input
1 Introduction
2 Preliminaries and Problem Formulation
2.1 System Dynamics and Fault Model
3 Main Results
3.1 Distributed Observer Design
3.2 Distributed Fault-Tolerant Controller Design
4 Simulation Result
5 Conclusion
References
Observer-Based Finite-Time Leaderless Fault-Tolerant Formation Control of Multiple Autonomous Underwater Vehicles
1 Introduction
2 Problem Formulation
2.1 Model Description of AUVs
2.2 Problem Formulation
3 Fault-Tolerant Controller Design
3.1 Observer-Based Estimation Law Design
3.2 Fault-Tolerant Coordinated Formation Controller Design and Stability Analysis
4 Simulation
5 Conclusion
References
A Double-Observation Policy Learning Framework for Multi-target Coverage with Connectivity Maintenance
1 Introduction
2 Problem Formulation
3 Proposed Method
4 Simulations
4.1 Configurations
4.2 Simulation Results
5 Conclusions
References
Research on Terahertz Space Measurement and Control Communication Technology for High Speed Aircraft
1 Introduction
2 Terahertz Space Measurement and Communication Technology
2.1 Research on Electromagnetic Scattering Characteristics of Terahertz Wave in Time-Varying Inhomogeneous Plasma
2.2 Research on Terahertz Measurement and Communication System
3 Simulation and Analysis of Scattering Characteristics of Terahertz Wave in Time-varying Plasma
3.1 Simulation of Time-Varying and Non-uniform Environment
3.2 The Effect of the Rise Time Tr on the Scattering Characteristics of Thz Electromagnetic Waves
3.3 The Effect of Temperature T on the Scattering Characteristics of Thz Electromagnetic Waves
3.4 The Effect of Pressure P on the Scattering Characteristics of THz Electromagnetic Wave
4 Simulation and Analysis of Terahertz Measurement and Communication System
4.1 Feasibility Verification of Communication System
4.2 Free Space Path Loss
4.3 Relation Between BER and SNR
4.4 Influence of Distance on Bit Error Rate of Communication System
4.5 Effect of Rise Time on Bit Error Rate of Communication System
4.6 Influence of Temperature on Bit Error Rate of Communication System
4.7 Influence of Pressure on Bit Error Rate of Communication System
5 Conclusion Remarks
References
Controllability of Two-Time-Scale Continuous-Time Multi-agent Systems with Switching Topology
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Graph Theory
2.2 Problem Formulation
3 Main Results
4 Simulation
5 Conclusion
References
An Improved Adaptive Genetic Algorithm Based on Dynamic Bayesian Network
1 Introduction
2 Improved Dynamic Bayesian Network Structure Learning Algorithm
2.1 Dynamic Bayesian Network Structure Learning Analysis
2.2 GA-DBN Learning Algorithm Based on Two-Step Strategy
2.3 Bayesian Information Criterions Scoring Analysis
2.4 The Proposed IAGA-DBN Algorithm
3 Comparison and Experimental Analysis
3.1 Experimental Data Set
3.2 Simulation Experiment Parameter Setting
3.3 Algorithm Convergence Analysis
3.4 Algorithm Comparison Analysis
4 Conclusion
References
Polynomial Fuzzy Control of an Underwater Robot Based on Gaussian Processes
1 Introduction
2 Preliminaries
2.1 Nonlinear Dynamics of an Underwater Robot
2.2 Polynomial Fuzzy Nominal Model of an Underwater Robot
2.3 System Unknown Dynamics
3 Controller Design
3.1 Unknown Dynamics Approximation Using GPs
3.2 GP-Based Polynomial Fuzzy Controller
4 Simulation Results
5 Conclusions
References
Cooperative Sensorless Perception of Chemical Production Lines in Smart Factories
1 Introduction
2 AlF3 Production System
3 A Cooperative Perception Methodology Based on Random Forest
3.1 Preprocessing
3.2 Random Forest
3.3 Model Validation
4 Experiment Results
4.1 Data Preprocessing
4.2 Model Construction
5 Conclusion
References
Distributed Escort Control of Multi-agent System with Intermittent Inter-agent Communication
1 Introduction
2 Preliminaries and Problem Statement
3 Main Results
3.1 Escort Center Observation
3.2 Distributed Escort Formation Control
4 Simulation
5 Conclusion
References
Sensorless Fault Detection of Actuators in Uncertain Network System
1 Introduction
2 Problem Formation
3 Fault Detection for UAVS via MESO
4 An Illustrative Example
5 Conclusions
References
A Novel Cooperative Target-Enclosing Control for Multiple Quadrotor UAVs via Passivity-Based Approach
1 Introduction
2 Preliminaries
2.1 Mathematical Model
2.2 Problem Statement
2.3 Mathematical Preliminaries
3 Controller Design
3.1 Controller Design for the Position Outer-Loop
3.2 Inner-Loop Attitude Controller Design
4 Simulation Results
5 Conclusion
References
Intelligent Robust Adaptive Control of Variant Aircraft Based on Switched Linear Systems and Deep Q-Network
1 Introduction
2 Model Description
2.1 Modeling of the Aircraft Dynamic
2.2 Problem Statement
3 Controller Design
3.1 Controller Structure
3.2 Adaptive Law
3.3 Stability Analysis
3.4 Intelligent Robust Adaptive Control via DQN
4 Numerical Simulation
5 Conclusion
References
Research on UAV Swarm System Based on Parallel System Theory
1 Introduction
2 Parallel UAV Swarm System
2.1 Parallel System Theory
2.2 UAV Swarm
2.3 Parallel UAV Swarm System
3 Research Framework of Parallel UAV Swarm System
4 Key Technology of Parallel UAV Swarm System
4.1 Core Architecture and Interaction Mechanism of Parallel UAV Swarm System
4.2 Parallel UAV Swarm Reinforcement Learning Method
4.3 Parallel Testing of UAV Swarms in Typical Task Scenarios
5 Conclusions
References
A Guidance Law for Cooperative Attack of Multi-UAVs with Spatio-Temporal Constraints
1 Introduction
2 Guidance Problems and Models
2.1 Dynamic Model
2.2 LOS Angle Guidance Model
2.3 Impact Time Cooperative Control Model
3 Guidance Law Design
3.1 Design of Impact Angle Controllable Guidance Law
3.2 Design of Velocity Cooperative Control Law
4 Simulation and Analysis
4.1 Simulation Result Without ESO and Expected Time Reference Signal
4.2 Simulation Results with ESO and no Expected Time Reference Signal
4.3 Simulation Results with ESO and Expected Time Reference Signal
5 Conclusion
References
Cooperative 4D Penetration Path Planning of Multi-UAV Using MLS-EDA Algorithm
1 Introduction
2 Mathematical Model of 4D Penetration Path Planning
2.1 UAV Motion Model
2.2 Objective Function and Space Constraints
2.3 Time Constraint Processing Based on State Registration
3 MLS-EDA Algorithm
3.1 Description of MLS-EDA
3.2 Path Planning Execution Flowchart
4 Experiment Study
5 Conclusions
References
Collaborative Estimation of Multi-source Heterogeneous Moving Sensors for UAV Cluster
1 Introduction
2 Problem Modeling
2.1 Target Motion Model
2.2 The Estimation Model of UAV-Target Relative State
2.3 Interference Motion Model
3 Collaboration Estimation Based on The Fusion of Multi-source Guidance Information
3.1 The Placement Strategy for Airborne Moving Sensors
3.2 Nonlinear Filtering Estimation for Airborne Moving Sensors
3.3 Collaborative Estimation of Multi-source Heterogeneous Moving Sensors
4 Simulation Study
4.1 Simulation Setup
4.2 Collaborative Estimation Results When Undisturbed&Uninterrupted
4.3 Collaborative Estimation Results When Disturbed or Interrupted
5 Conclusion
References
Distributed Cluster Fusion Estimation Under Correlated Noise Conditions
1 Introduction
2 Problem Formulation
3 Design of Distributed Cluster Estimation
3.1 Centralized Kalman Filter
3.2 Centralized Information Filter
3.3 Distributed Weighted Estimation
3.4 Distributed Cluster Filter Algorithm
4 Simulation Example
5 Conclusion
References
Research on UAV Cluster Track Planning in Communication Relay Mode
1 Introduction
2 UAV Cluster Track Planning Task Model
2.1 Task Logic
2.2 Problem Description
2.3 Costs and Benefits
2.4 Objective Function
2.5 Constraints
2.6 Communication Relay Model
3 Task Allocation Simulation
3.1 Simulation Environment
3.2 Algorithm Simulation Results
3.3 Algorithm Efficiency
4 Summary
References
Fixed-Time Consensus Tracking of Wheeled Mobile Robots Under Digraph with Packet Dropout
1 Introduction
2 Problem Formulation and Preliminaries
2.1 Problem Formulation
2.2 Preliminaries
3 Main Results
4 Simulation Results
5 Conclusion
References
Optimal Multi-agent Collision-Free Path Planning with Temporal Logic Constraints
1 Introduction
2 Preliminaries
3 Problem Statement
4 Main Result
5 Experiments and Results
5.1 Numerical and Semi-physical Simulations
5.2 Physical Experiments
6 Conclusions
References
Research on Anti-UAS Technology Based on Data Driven Method
1 Introduction
2 Cognition of UAS Combat Behavior
2.1 The Characteristics of UAS Combat
2.2 The Operation Pattern of UAS
2.3 The Establishment of UAS Combat Behavior Database
3 Cognition of Anti-UAS Combat Behavior
3.1 The Characteristics of Anti-UAS Combat
3.2 The Style of Anti-UAS Combat
3.3 The Establishment of Anti-UAS Combat Behavior Database
3.4 The Characterization and Mapping of Anti-UAS Combat Behavior
4 Data-Driven Anti-UAS System
4.1 Significance of System Establishment
4.2 The Architecture of the Anti-UAS System
5 Conclusions
References
Zero-Sum Game-Based Controller Design Using Reinforcement Learning for Formation Tracking of Multi-agent Systems
1 Introduction
2 Preliminaries and Problem Description
2.1 Basic Graph Theory
2.2 Problem Description
3 Main Results
3.1 Zero-Sum Game-Based Robust H Regulator Formulation
3.2 Implementation of Q-learning Design Method
3.3 Distributed Formation Tracking Controller Design
4 Simulation Results
5 Conclusion
References
Distributed Robust Adaptive Control for Cooperative Formation of Uncertain Multiple Fixed-Wing UAVs with Disturbances
1 Introduction
2 Prelminaries
2.1 Graph Theory
2.2 Problem Formulation
3 Main Results
3.1 Controller Design
3.2 Stability Analysis
4 Simulation
5 Conclusion
References
Vulnerability Analysis for IoT Devices of Multi-agent Systems: A Cryptographic Function Identification Approach
1 Introduction
2 Cryptographic Function Analysis Framework
2.1 Binary File Extraction
2.2 Cryptographic Function Identification
2.3 Application Scenarios Analysis
3 Experimental Evaluation
3.1 Firmware Preprocessing
3.2 Cryptographic Function Identification Results
3.3 Application Scenarios Discussions
4 Conclusions
References
Fully Distributed Event-Triggered Pinning Cluster Dynamic Consensus Control for Heterogeneous Multi-agent Systems with Cooperative-Competitive Interactions
1 Introduction
2 Event-Triggered Dynamic Cluster Consensus Control
2.1 Algebraic Graph Theory
2.2 System Model
2.3 Main Results
3 Simulation Example
4 Conclusion
References
Optimal Consensus Model-Free Control for Multi-agent Systems Subject to Switching Topologies: Using Action Reinforcement Learning Method
1 Introduction
2 Problem Formulation and Preliminaries
2.1 Narration of Graph Theory
2.2 Problem Formulation
3 Optimal Policy Design for MASs with Switching Topology
3.1 Optimal Consensus Controller Design
3.2 Action Reinforcement Learning Algorithm
4 Reinforce-Actor-Critic NNs
4.1 Reinforce NNs
4.2 Critic NNs
4.3 Actor NNs
5 Simulation Examples
6 Conclusion
References
Finite Time Dynamic Consensus Control for Heterogeneous Multi-agent Systems via Event-Triggered and Pinning Methods
1 Introduction
2 Preliminaries
2.1 Narration of Algebraic Graph Theory
2.2 Model of HMASs
3 Main Results
3.1 The Control Protocol Based on HMASs
3.2 Design of ETC
4 Simulation Example
5 Conclusion
References
A Novel Interactive Model Navigation Method for Long Endurance Underwater Unmanned Vehicle
1 Introductions
2 Navigation Model
2.1 Mathematical Model of Navigation System
3 Interactive Multiple Model Federated Filtering Algorithm
3.1 Anomaly Analysis of Measurement Noise Model
3.2 Interactive Multiple Model Algorithm
4 Simulation Analysis
5 Conclusion
References
Survey on UAV Coverage Path Planning and Trajectory Optimization
1 Introduction
2 Definition of Full Coverage Path Planning
3 Coverage Area Decomposition
3.1 Exact Cellular Decomposition
3.2 Approximate Decomposition
4 Traversal Strategies
4.1 Non-heuristic Traversal Strategy
4.2 Heuristic Traversal Strategy
5 Trajectory Optimization
5.1 Dubins Curves
5.2 Clothoid Curves
5.3 PH Curves
6 The Evaluation Index of CPP
7 Conclusions
References
A Multi-facet Survey on Criticality in Flocking Systems
1 Introduction
2 Bibliometric Analysis and Our Sample Dataset
3 General Statistical Analysis of Literature on Criticality of Flocks
4 Co-citation Analysis and Related Development Trend
4.1 Co-citation Clustering Analysis
4.2 Timeline and Development Trend Analysis
5 Conclusion
References
Average Consensus Problems of Directed Multi-agent Systems via Sampled Control Method
1 Introduction
2 Preliminaries for Digraph
3 Problem Statements
4 Main Results
5 Simulations
6 Conclusions
References
Event-Triggered Distributed Multi-sensor Data Fusion for Networked Systems with Delayed Measurements
1 Introduction
2 Problem Formulation
2.1 Event-triggered Communication Mechanism
2.2 Random Measurement Delays
3 Event-Triggered Distributed Multi-sensor Data Fusion with Delayed Measurements
4 Numerical Simulations and Results Analysis
5 Conclusions
References
Fixed-Time Scaling Formation Control Design for Multi-robot System
1 Introduction
2 Problem Setting
3 Scaling Formation Control Design
3.1 General Fixed-Time Behavioral Control Design
3.2 Time-Varying Scaling Formation Behavioral Control
4 Simulation Results
4.1 When gi and pi0 Are Time-Invariant
4.2 When gi Is Stepped and pi0 Is Time-Invariant
4.3 When the Virtual Leader p0 Is Spiraling Upward, gi Is Stepped and pi0 Is Time-Invariant
4.4 When gi and pi0 Are Time-Varying
5 Conclusions
References
The Pursuit-Evasion Game Strategy of High-Speed Aircraft Based on Monte-Carlo Deep Reinforcement Learning
1 Introduction
2 Establishment of the PE Game Model
3 Monte-Carlo Deep Reinforcement Learning
4 Experimental Scene Settings
5 Simulation and Analysis
6 Robustness Analysis
7 Conclusion
References
Multi-UAV Sliding Mode Formation Control Based on Reinforcement Learning
1 Introduction
2 Preliminary Knowledge and Problem Formulation
2.1 Graph Theory
2.2 Definition and Citation
2.3 Problem Formulation
3 Sliding Mode Controller Design
3.1 Main Result
3.2 Stability Proof
4 Controller Parameters Tuning Based on Reinforcement Learning
5 Simulation Analysis
6 Conclusion
References
Dynamic Formation Tracking of Multi-agent Systems with Bounded Unknown Leader Input
1 Introduction
2 Preliminaries
3 Main Results
4 Conclusion
References
Formation Trajectory Planning of Fixed-Wing UAV Swarms
1 Introduction
2 Mathematical Models
2.1 Kinematic Model
2.2 Constraints Model
3 Problem Formulation
4 Methodology
5 Experiments and Results
5.1 Experiment Settings
5.2 Numerical Simulation Results
5.3 Hardware-In-the-Loop Simulation Results
5.4 Field Experiment Results
6 Conclusion
References
A New Method for Estimating and Predicting Uncertain Acceleration Against Weaving Targets
1 Introduction
2 System Description
2.1 Engagement Dynamics
2.2 Extended State Observer
2.3 Long Short-Term Memory Networks
3 Target Weave-Acceleration Estimator and Predictor
3.1 Estimating the Acceleration of the Weaving Target with LESO
3.2 Predicting the Acceleration of a Weaving Target
4 Simulation Results
5 Conclusion
References
Cooperative Optimization Method of UAV Swarm for Multi-objective High-Precision Location
1 Introduction
2 Problem Description
3 Derivation of Joint Location Accuracy
4 Optimization Method of UAV Swarm Cooperative Location
4.1 Initialization Strategy Based on Target Isolation
4.2 Specific Steps of IPSO Algorithm
4.3 Random Allocation Method of UAV Swarm Based on Probability
5 Analysis of Experimental Results
5.1 Introduction to Experimental Scenario
5.2 Performance Comparison of Different Optimization Algorithms
5.3 Influence of UAV and Target Number on Algorithm Performance
6 Summary
References
Neural Network Based Adaptive Consensus of Multi-quadrotor System
1 Introduction
2 Preliminaries
2.1 Topology Theory on Multi-quadrotor System
2.2 Problem Model
2.3 RBFNN Model
3 Communication Protocol
4 Main Results
5 Conclusions
References
SINS/USBL Calibration Method Based on Maximum Correntropy Under UKF Framework
1 Introduction
2 SINS/USBL Calibration Mechanism
2.1 System Mode
3 MCUKF
3.1 Maximum Correntropy Criterion
3.2 Maximum Correntropy Under UKF Framework
4 Simulation
5 Conclusion
References
Decentralized Learning Control for Multi-UAV Swarm Simultaneous Coverage and Tracking
1 Introduction
2 Preliminaries
3 Approach
3.1 Action Decision Driven by Value Network
3.2 Value Network Training
3.3 Swarm Simultaneous Coverage and Tracking Driven by Learning
4 Experimental Simulation and Analysis
5 Conclusion
References
Distributed MPC Based on Distributed Evolutionary Game for Leaderless Formation Control
1 Introduction
2 Problem Statement
2.1 Formulation of Formation Problem
2.2 Collision-Free Set
2.3 Optimal Control Problem
3 Distributed Evolutionary Game
3.1 Preliminary Concepts
3.2 Distributed Evolutionary Game for Two Populations with Coupled Constraints
4 DMPC Algorithm Based on DEG2PC
5 Simulation Results
6 Conclusions
References
Event-Triggered Finite-Time Formation Control for Unmanned Surface Vehicles with Output Constraints and Time-Varying Disturbance
1 Introduction
2 Problem Formulation and Preliminaries
2.1 Model of Unmanned Surface Vehicles
2.2 Leader-Follower Formation Framework
3 USVs Formation Controller Design
4 Stability Analysis
5 Simulation
6 Conclusion
References
Research on Real-Time Target Assignment of UAV Swarm Based on DA-PSO Algorithm
1 Introduction
2 Real-Time Target Allocation Model
3 Solution of Target Allocation Problem Based on DA-PSO
4 Simulation Tests
5 Conclusion
References
Forming Circle Formations of Multi-agent Systems Under Actuator Faults
1 Introduction
2 Problem Formulation
3 Fault-Tolerant Control Law Design
4 Simulation Result
5 Conclusion
References
Optimal Attack Against Coverage Path Planning in Multi-robot System
1 Introduction
2 Problem Formulation
2.1 Preliminaries
2.2 Multi-robot System Coverage Path Planning
2.3 Attacker Models
2.4 Problem of Interest
3 Main Result
4 Performance Evaluation
5 Conclusions
References
Emergent Morphogenesis for Robot Swarms in 3D Space
1 Introduction
2 Morphogenesis Model
2.1 Repulsion, Collective and Velocity Alignment
2.2 3D Interaction Law
2.3 Columnar Boundary with Tunable Radial Steepness
3 Results and Analysis
3.1 Emergent Morphogenesis
3.2 Collision-Free
3.3 Morphological Stability
4 Discussion and Conclusion
References
An Optimized Flocking Motion with Attention Module for Obstacle Avoidance
1 Introduction
2 Flocking Control Model
2.1 Rule of Perception
2.2 Interactions with Neighbors
2.3 Obstacle Avoidance Mechanism
3 Problem Definition
3.1 Flocking Task with Moving Towards the Target Zone
3.2 Objective Functions
3.3 Multi-objective Optimization
4 Experiments and Results
4.1 Experiments Design
4.2 Comparative Experimental Results
5 Discussion
References
Neural Network and Collaborative Computing for Image-based Train Location Data Acquisition
1 Introduction
2 Structure of Neural Network
2.1 Convolutional Layers
2.2 Transcription Layer
3 Collaborative Computing and Petri Nets Model
4 Case Study
4.1 Preparations for Model Training
4.2 Training of the Model
5 Conclusion
References
Timetable Rescheduling for High-Speed Railways Considering Dynamical Train Groups in Case of Disturbances
1 Introduction
2 Problem Description
3 Model Formulation and Solution Approach
3.1 Notations and Decision Variables
3.2 Rescheduling of Dynamical Train Groups Under Virtual Coupling Mode
3.3 Objective Function and Constraints
3.4 Solution Approach
4 Case Study
5 Conclusion
References
Cooperative Guidance Law of Multiple Interceptors Based on Neighborhood Optimal Control
1 Introduction
2 Neighboring Optimal Feedback Law Theory
3 Cooperative Interception Guidance Law Based on Neighborhood Optimal Control
4 Application to Midcourse Trajectory of Intercepting Hypersonic Vehicle
5 Optimal Trajectory Modification
5.1 Simulation of Optimal Trajectory Cluster Generation
6 Conclusions
References
Anti-disturbance Switching Tracking Control for Turbofan Systems Using Average Dwell Time Method
1 Introduction
2 Problem Statement
3 Anti-disturbance Controller Design for Turbofan Switching Systems
4 Main Results
5 Simulation
6 Conclusion
References
Adaptive Controller Based on Interfered Fluid Dynamical System for Spacecraft Safe Approach
1 Introduction
2 Mathematical Models and Interfered Fluid Dynamical System
2.1 Satellites' Relative Dynamic Model
2.2 Interfered Fluid Dynamical System
2.3 IFDS-SMC Control
3 Adaptive Interfered Fluid Dynamical System Sliding Mode Control
4 Simulation Results
5 Conclusions
References
Multi-agent Collaborative Region Exploration and Path Planning Based on Q-Learning Algorithm Under Communication-Limited Condition
1 Introduction
2 Updating Rule for Probability Matrix and Action Strategy for Agents in Region Exploration Task
2.1 The Main Task of Region Exploration
2.2 The Updating Rule for Search Probability Matrix in Region Exploration
2.3 The Search Strategy for Agents in Region Exploration
3 Multi-agent Cooperative Region Exploration and Path Planning Based on Hierarchical Q-Learning Algorithm for Path Planning
4 Simulation
5 Conclusion
References
Pre-training Models Based Knowledge Graph Multi-hop Reasoning for Smart Grid Technology
1 Introduction
2 The Related Work
2.1 Knowledge Graph of Distribution Network Defects Under Smart Grid Technology
2.2 Natural Language Pre-training
2.3 Multi-hop Reasoning
3 Experiment
3.1 Experimental Data and Settings
3.2 Two-Hop Questions Experiment
3.3 Three-Hop Questions Experiment
3.4 Four-Hop Questions Experiment
4 Conclusion
References
Author Index

System requirements

Save as PDF Copy link into clipboard

Schweitzer Fachinformationen

Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control

Description

More details

Other editions

Additional editions

Persons

Content

System requirements