BookDOI
Distributed Consensus in Multi-vehicle Cooperative Control
Wei Ren,Randal W. Beard +1 more
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In this article, the authors present a survey of the use of consensus algorithms in multi-vehicle cooperative control, including single-and double-integrator dynamical systems, rigid-body attitude dynamics, rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.Abstract:
The coordinated use of autonomous vehicles has an abundance of potential applications from the domestic to the hazardously toxic. Frequently the communications necessary for the productive interplay of such vehicles may be subject to limitations in range, bandwidth, noise and other causes of unreliability. Information consensus guarantees that vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, Distributed Consensus in Multi-vehicle Cooperative Control develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the deleterious effects of range and other restrictions. The monograph is divided into six parts covering introductory, theoretical and experimental material and featuring: an overview of the use of consensus algorithms in cooperative control; consensus algorithms in single- and double-integrator dynamical systems; consensus algorithms for rigid-body attitude dynamics; rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance. Notation drawn from graph and matrix theory and background material on linear and nonlinear system theory are enumerated in six appendices. The authors maintain a website at which can be found a sample simulation and experimental video material associated with experiments in several chapters of this book. Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest. This text will also serve as a valuable support and reference for graduate courses in robotics, and linear and nonlinear control systems.read more
Citations
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Robust Output Feedback Consensus for Networked Negative-Imaginary Systems
TL;DR: It is shown how the results in this work embed and generalize earlier results for these classes of systems and it is shown that the natural convergence set boils down to the centroid of the initial pattern when the initial conditions of the controllers are zero.
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A Scalable Multitarget Tracking System for Cooperative Unmanned Aerial Vehicles
TL;DR: To make the system scalable, the density-based spatial clustering of applications with noise algorithm is used to group targets, sensor managers determine optimal gimbal poses and path planners collectively coordinate UAVs’ movements.
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References
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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Information flow and cooperative control of vehicle formations
J.A. Fax,Richard M. Murray +1 more
TL;DR: A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
Journal ArticleDOI
Multi-vehicle consensus with a time-varying reference state
TL;DR: This paper first analyzes a consensus algorithm with a constant reference state using graph theoretical tools, then proposes consensus algorithms with a time-varying reference state and shows necessary and sufficient conditions under which consensus is reached on the time-Varyingreference state.
Journal ArticleDOI
Consensus strategies for cooperative control of vehicle formations
TL;DR: In this article, a consensus-based formation control strategy is proposed to guarantee accurate formation maintenance in the general case of arbitrary (directed) information flow between vehicles as long as certain mild conditions are satisfied.
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