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Author: Veysel Gazi
Publisher: Springer Science & Business Media
ISBN: 3642180418
Category : Technology & Engineering
Languages : en
Pages : 299
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Book Description
Swarming species such as flocks of birds or schools of fish exhibit fascinating collective behaviors during migration and predator avoidance. Similarly, engineered multi-agent dynamic systems such as groups of autonomous ground, underwater, or air vehicles (“vehicle swarms”) exhibit sophisticated collective behaviors while maneuvering. In this book we show how to model and control a wide range of such multi-agent dynamic systems and analyze their collective behavior using both stability theoretic and simulation-based approaches. In particular, we investigate problems such as group aggregation, social foraging, formation control, swarm tracking, distributed agreement, and engineering optimization inspired by swarm behavior.
Author: Veysel Gazi
Publisher: Springer Science & Business Media
ISBN: 3642180418
Category : Technology & Engineering
Languages : en
Pages : 299
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Book Description
Swarming species such as flocks of birds or schools of fish exhibit fascinating collective behaviors during migration and predator avoidance. Similarly, engineered multi-agent dynamic systems such as groups of autonomous ground, underwater, or air vehicles (“vehicle swarms”) exhibit sophisticated collective behaviors while maneuvering. In this book we show how to model and control a wide range of such multi-agent dynamic systems and analyze their collective behavior using both stability theoretic and simulation-based approaches. In particular, we investigate problems such as group aggregation, social foraging, formation control, swarm tracking, distributed agreement, and engineering optimization inspired by swarm behavior.
Author: Don A. Grundel
Publisher: World Scientific
ISBN: 9789812796592
Category : Computers
Languages : en
Pages : 608
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Book Description
Over the past several years, cooperative control and optimization have increasingly played a larger and more important role in many aspects of military sciences, biology, communications, robotics, and decision making. At the same time, cooperative systems are notoriously difficult to model, analyze, and solve OCo while intuitively understood, they are not axiomatically defined in any commonly accepted manner. The works in this volume provide outstanding insights into this very complex area of research. They are the result of invited papers and selected presentations at the Fourth Annual Conference on Cooperative Control and Optimization held in Destin, Florida, November 2003. This book has been selected for coverage in: . OCo Index to Scientific & Technical Proceedings- (ISTP- / ISI Proceedings). OCo Index to Scientific & Technical Proceedings (ISTP CDROM version / ISI Proceedings). OCo CC Proceedings OCo Engineering & Physical Sciences. Contents: Mesh Stability in Formation of Distributed Systems (C Ashokkumar et al.); On the Performance of Heuristics for Broadcast Scheduling (C Commander et al.); Coupled Detection Rates: An Introduction (D Jeffcoat); Decentralized Receding Horizon Control for Multiple UAVs (Y Kuwata & J How); Multitarget Sensor Management of Dispersed Mobile Sensors (R Mahler); K-Means Clustering Using Entropy Minimization (A Okafor & P Pardalos); Possibility Reasoning and the Cooperative Prisoner''s Dilemma (H Pfister & J Walls); Coordinating Very Large Groups of Wide Area Search Munitions (P Scerri et al.); A Vehicle Following Methodology for UAV Formations (S Spry et al.); Decentralized Optimization via Nash Bargaining (S Waslander et al.); and other papers. Readership: Graduate students and researchers in optimization and control, computer science and engineering."
Author: Derong Liu
Publisher: Springer Science & Business Media
ISBN: 1461200377
Category : Technology & Engineering
Languages : en
Pages : 459
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Book Description
It is with great pleasure that I offer my reflections on Professor Anthony N. Michel's retirement from the University of Notre Dame. I have known Tony since 1984 when he joined the University of Notre Dame's faculty as Chair of the Depart ment of Electrical Engineering. Tony has had a long and outstanding career. As a researcher, he has made im portant contributions in several areas of systems theory and control theory, espe cially stability analysis of large-scale dynamical systems. The numerous awards he received from the professional societies, particularly the Institute of Electrical and Electronics Engineers (IEEE), are a testament to his accomplishments in research. He received the IEEE Control Systems Society's Best Transactions Paper Award (1978), and the IEEE Circuits and Systems Society's Guillemin-Cauer Prize Paper Award (1984) and Myril B. Reed Outstanding Paper Award (1993), among others. In addition, he was a Fulbright Scholar (1992) and received the Alexander von Hum boldt Forschungspreis (Alexander von Humboldt Research Award for Senior U.S. Scientists) from the German government (1997). To date, he has written eight books and published over 150 archival journal papers. Tony is also an effective administrator who inspires high academic standards.
Author: Calif.) International Workshop on Swarm Robotics (1st : 2004 Santa Monica
Publisher: Springer Science & Business Media
ISBN: 3540242961
Category : Computers
Languages : en
Pages : 182
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Book Description
Swarm robotics can be defined as the study of how a swarm of relatively simple physically embodied agents can be constructed to collectively accomplish tasks that are beyond the capabilities of a single one. Unlike other studies on multi-robot systems, swarm robotics emphasizes self-organization and emergence, while keeping in mind the issues of scalability and robustness. These emphases promote the use of relatively simple robots, equipped with localized sensing ability, scalable communication mechanisms, and the exploration of decentralized control strategies. This state-of-the-art survey is the first book devoted to swarm robotics. It is based on the First International Workshop on Swarm Robotics held in Santa Monica, CA, USA in July 2004 as part of SAB 2004
Author: Veysel Gazi
Publisher:
ISBN:
Category :
Languages : en
Pages : 222
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Book Description
Swarming, or aggregations of organisms in groups, can be found in nature in many organisms ranging from simple bacteria to mammals. Such behavior can result from several different mechanisms. For example, individuals may respond directly to local physical cues such as concentration of nutrients or distribution of some chemicals as seen in some bacteria and social insects, or they may respond directly to other individuals as seen in fish, birds, and herds of mammals. In this dissertation, we consider models for aggregating and social foraging swarms and perform rigorous stability analysis of emerging collective behavior. Moreover, we consider formation control of a general class of multi-agent systems in the framework of nonlinear output regulation problem with application on formation control of mobile robots. First, an individual-based continuous time model for swarm aggregation in an n-dimensional space is identified and its stability properties are analyzed. The motion of each individual is determined by two factors: (i) attraction to the other individuals on long distances and (ii) repulsion from the other individuals on short distances. It is shown that the individuals (autonomous agents or biological creatures) will form a cohesive swarm in a finite time. Moreover, explicit bounds on the swarm size and time of convergence are derived. Then, the results are generalized to a more general class of attraction/repulsion functions and extended to handle formation stabilization and uniform swarm density. After that, we consider social foraging swarms. We assume that the swarm is moving in an environment with an "attractant/repellent" profile (i.e., a profile of nutrients or toxic substances) which also affects the motion of each individual by an attraction to the more favorable or nutrient rich regions (or repulsion from the unfavorable or toxic regions) of the profile. The stability properties of the collective behavior of the swarm for different profiles are studied and conditions for collective convergence to more favorable regions are provided. Then, we use the ideas for modeling and analyzing the behavior of honey bee clusters and in-transit swarms, a phenomena seen during the reproduction of the bees. After that, we consider one-dimensional asynchronous swarms with time delays. We prove that, despite the asynchronism and time delays in the motion of the individuals, the swarm will converge to a comfortable position with comfortable intermember spacing. Finally, we consider formation control of a multi-agent system with general nonlinear dynamics. It is assumed that the formation is required to follow a virtual leader whose dynamics are generated by an autonomous neutrally stable system. We develop a decentralized control strategy based on the nonlinear output regulation (servomechanism) theory. We illustrate the procedure with application to formation control of mobile robots.
Author: Kevin M. Passino
Publisher: Springer Science & Business Media
ISBN: 9781852338046
Category : Computers
Languages : en
Pages : 964
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Book Description
There are many highly effective optimization, feedback control, and automation systems embedded in living organisms and nature. Evolution persistently seeks optimal robust designs for biological feedback control systems and decision making processes. From this comprehensive text you will gain knowledge of how mimicry of such biological processes can be used to solve optimization, control, and automation problems encountered in the construction of high technology systems. Mathematical stability analysis is treated for a number of cases, from attentional systems to social foraging swarm cohesion properties. Bio-inspired optimization and control methods are compared to conventional techniques with an objective to provide a balanced viewpoint. • A companion web site, continually updated by the author, will provide you with further examples and design problems, solution hints, lecture slides, a running lab and ongoing self-study problems and resources. • MATLAB® code is provided to solve a number of key problems. • Focus lies on verifying correct operation of technologies via a process of mathematical modelling and analysis complimented by computer simulations. • Written from an engineering perspective, methods are applied to extensive real-world applications, from ship steering to cooperative control of a group of autonomous robots. Aimed primarily at graduate courses and research, much of the material has been successfully used for undergraduate courses. This dynamic textbook sends an injection of new ideas into engineering technology and the academic community.
Author: Geoffrey Webb
Publisher: Springer
ISBN: 3540305491
Category : Computers
Languages : en
Pages : 1293
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Book Description
This book constitutes the refereed proceedings of the 17th Australian Conference on Artificial Intelligence, AI 2004, held in Cairns, Australia, in December 2004. The 78 revised full papers and 62 revised short papers presented were carefully reviewed and selected from 340 submissions. The papers are organized in topical sections on agents; biomedical applications; computer vision, image processing, and pattern recognition; ontologies, knowledge discovery and data mining; natural language and speech processing; problem solving and reasoning; robotics; and soft computing.
Author: Ke Chen
Publisher: Springer Science & Business Media
ISBN: 354028320X
Category : Computers
Languages : en
Pages : 1383
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Book Description
This book and its sister volumes, i.e., LNCS vols. 3610, 3611, and 3612, are the proceedings of the 1st International Conference on Natural Computation (ICNC 2005), jointly held with the 2nd International Conference on Fuzzy Systems and Knowledge Discovery (FSKD 2005, LNAI vols. 3613 and 3614) from 27 to 29 August 2005 in Changsha, Hunan, China.
Author:
Publisher:
ISBN:
Category : Dissertations, Academic
Languages : en
Pages : 664
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Book Description
Author: Sergiy Butenko
Publisher: Springer Science & Business Media
ISBN: 1475737580
Category : Mathematics
Languages : en
Pages : 365
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Book Description
During the last decades, considerable progress has been observed in all aspects regarding the study of cooperative systems including modeling of cooperative systems, resource allocation, discrete event driven dynamical control, continuous and hybrid dynamical control, and theory of the interaction of information, control, and hierarchy. Solution methods have been proposed using control and optimization approaches, emergent rule based techniques, game theoretic and team theoretic approaches. Measures of performance have been suggested that include the effects of hierarchies and information structures on solutions, performance bounds, concepts of convergence and stability, and problem complexity. These and other topics were discusses at the Second Annual Conference on Cooperative Control and Optimization in Gainesville, Florida. Refereed papers written by selected conference participants from the conference are gathered in this volume, which presents problem models, theoretical results, and algorithms for various aspects of cooperative control. Audience: The book is addressed to faculty, graduate students, and researchers in optimization and control, computer sciences and engineering.
