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In this paper, we introduce a theoretical framework for coupled distributed estimation and motion control of mobile sensor networks for collaborative target tracking. We use a Fisher Information theoretic metric for quality of sensed data. The mobile sensing agents seek to improve the information value of their sensed data while maintaining a safe-distance from other neighboring agents (i.e., perform information-driven flocking). We provide a formal stability analysis of continuous Kalman-Consensus filtering (KCF) algorithm on a mobile sensor network with a flocking-based mobility control model. The discrete-time counterpart of this coupled estimation and control algorithm is successfully applied to tracking of two types of targets with stochastic linear and nonlinear dynamics. [ABSTRACT FROM AUTHOR]

In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms. Two cases of flocking in free-space and presence of multiple obstacles are considered. We present three flocking algorithms: two for free-flocking and one for constrained flocking. A comprehensive analysis of the first two algorithms is provided. We demonstrate the first algorithm embodies all three rules of Reynolds. This is a formal approach to extraction of interaction rules that lead to the emergence of collective behavior. We show that the first algorithm generically leads to regular fragmentation, whereas the second and third algorithms both lead to flocking. A systematic method is provided for construction of cost functions (or collective potentials) for flocking. These collective potentials penalize deviation from a class of lattice-shape objects called α-lattices. We use a multi-species framework for construction of collective potentials that consist of flock-members, or α-agents, and virtual agents associated with α-agents called β- and γ-agents. We show that migration of flocks can be performed using a peer-to-peer network of agents, i.e., ‘flocks need no leaders.’ A ‘universal’ definition of flocking for particle systems with similarities to Lyapunov stability is given. Several simulation results are provided that demonstrate performing 2-D and 3-D flocking, split/rejoin maneuver, and squeezing maneuver for hundreds of agents using the proposed algorithms. [ABSTRACT FROM AUTHOR]

In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results. [ABSTRACT FROM AUTHOR]

Studies the global configuration stabilization for the vertical takeoff and landing aircraft with strong input coupling. Key issues of interest; Analysis of pertinent issues and related topics; Implications on the study of automatic control.

Presents cascade normal forms for underactuated mechanical systems. Classification on the cascade systems of the normal forms; Observation of cascade transformation in closed-form; Application of the normal forms to the Acrobot, Rotating Pendulum, and the Cart-Pole system.