Flocking of multi-agents with obstacle avoidance is a significant problem in the research of flocking. Olfati-Saber proposed a flocking algorithm with obstacle avoidance in [13]. In this paper we extend Olfati-Saber algorithm to 3D flocking with conic obstacle avoidance. The -agents are guided byagents which are determined by the shortest route on the cone. We also present the dissipative analysis of flocking with obstacle avoidance. Finally, simulation results are provided to demonstrate the effectiveness of our proposed methods.Index Terms-velocity of -agent, shortest route, obstacle avoidance, dissipative ___________________________________ 978-1-4673-0089-6/12/$26.00 ©2012 IEEE

The oxygen A-band (759–770 nm) is a commonly used band for atmospheric observations. The signal in this band has wide dynamic range and can be used to invert several atmospheric parameters, such as air pressure and atmospheric optical depth, at different altitudes. High-resolution oxygen A-band radiance imaging spectrometer (HARIS) is an imaging spectrometer that operates in the oxygen A-band, which is designed for the observation of the direct solar radiance that passes through the atmosphere. HARIS is a transmissive imaging spectrometer that uses a compact transmissive optical system combined with reflective grating spectroscopy, while an area scan CMOS detector is used as the photosensitive element for the observations. HARIS response is associated with the observed target through a calibration process, which uses a monochromator with a supercontinuum laser for the spectral calibration, an integrating sphere with a spectrophotometer for the radiometric calibration and a meridian for the geometric calibration is employed to correct for distortions. The calibration results show that HARIS has an average spectral resolution of 0.33 nm and a field-of-view of 3.085 × 0.03° with an average spatial sampling interval of 0.0138°. Finally, the performance of HARIS is verified through field tests, in which the solar radiance data with an average signal-to-noise ratio of 438.93 is obtained.

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