Author: "Changbin Yu" / Topic: multiagent systems - Searchworks@Jio Institute Digital Library Search Results

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Start Over Author "Changbin Yu" Topic multiagent systems

Author: Ming Cao, Brian D. O. Anderson, Changbin Yu, Engineering and Technology Institute Groningen, and Discrete Technology and Production Automation
Subjects: Engineering, Robot kinematics, business.industry, Cayley-Menger determinant, Multi-agent system, Autonomous agent, Real-time computing, range measurement, Control engineering, LOCALIZATION, MULTIAGENT SYSTEMS, Measure (mathematics), Computer Science::Robotics, Feature (computer vision), Position (vector), Robot, autonomous agents, business, CONSENSUS, Wireless sensor network, leader-follower structure
Abstract: We propose a coordination algorithm for robotic multi-agent systems with leader-follower structures so that when a leader moves with a constant velocity, its followers can compute the leader's velocity after measuring their distances to the leader for a finite number of times. One feature of the proposed algorithm is that no active communication is needed, and as a result, the algorithm becomes advantageous in the application of robotic sensor networks where energy efficient algorithms are highly desirable to maximize network lifespan. The algorithm makes use of the Cayley-Menger determinant which is a powerful tool from distance geometry. It is shown that the proposed algorithm has the potential to be applied to robotic swarms in a challenging scenario where each robot is installed with only range sensors and cannot measure the position of a target directly.
Published: 2009

Author: Yun Hou and Changbin Yu
Subjects: *MULTIAGENT systems, *GEOMETRIC rigidity, *DIRECTED graphs, *COMPUTATIONAL complexity, *DEGREES of freedom
Abstract: This work focuses on the construction of rigid formation from non-rigid ones in the two-dimensional space. Analogously to operations of Henneberg sequence aiming to guarantee the minimal rigidity of formation, two new operations are introduced, allowing one to sequentially build any rigid graph by connecting non-rigid ones. A systematic construction sequence is developed based on proposed operations, and is shown to be able to restore rigidity by introducing minimum number of new edges during the construction process. Further applications of the proposed operations are also presented, one of which is successfully employed in the problem of persistence analysis of directed graphs, and can verify the persistence of a given graph with a speed two times faster comparing with existing solution. [ABSTRACT FROM AUTHOR]
Published: 2016
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Author: Jiahu Qin and Changbin Yu
Subjects: *MULTIAGENT systems, *VELOCITY, *TOPOLOGY, *INTEGRATORS, *LYAPUNOV stability
Abstract: We consider the coordination control for multiagent systems in a very general framework where the position and velocity interactions among agents are modeled by independent graphs. Different algorithms are proposed and analyzed for different settings, including the case without leaders and the case with a virtual leader under fixed position and velocity interaction topologies, as well as the case with a group velocity reference signal under switching velocity interaction. It is finally shown that the proposed algorithms are feasible in achieving the desired coordination behavior provided the interaction topologies satisfy the weakest possible connectivity conditions. Such conditions relate only to the structure of the interactions among agents while irrelevant to their magnitudes and thus are easy to verify. Rigorous convergence analysis is preformed based on a combined use of tools from algebraic graph theory, matrix analysis as well as the Lyapunov stability theory. [ABSTRACT FROM AUTHOR]
Published: 2013
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