Consensus enhancement for multi-agent systems with rotating-segmentation perception

Xie, Guangqiang; Xu, Haoran; Li, Yang; Hu, Xianbiao; Wang, Chang‐Dong

doi:10.1007/s10489-022-03687-x

Cited by 4 publications

(2 citation statements)

References 49 publications

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“…The control methods for UUV swarm often rely on high-speed communication and precise velocity information [4,32], which can be challenging to maintain in underwater environments. Paper [23] presents a theoretical framework for designing and analyzing distributed flocking algorithms that rely on the position information of neighboring agents.…”

Section: Cooperative Control Methodsmentioning

confidence: 99%

Bio-Inspired Cooperative Control Scheme of Obstacle Avoidance for UUV Swarm

Wang,

Yuan

et al. 2024

JMSE

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The complex underwater environment poses significant challenges for unmanned underwater vehicles (UUVs), particularly in terms of communication constraints and the need for precise cooperative obstacle avoidance and trajectory tracking. Addressing these challenges solely through position information is crucial in this field. This study explores the intricate task of managing a group of UUVs as they navigate obstacles and follow a given trajectory, all based on position information. A new dynamic interactive topology framework utilizing sonar technology has been developed for the UUVs. This framework not only provides position information for the UUV swarm but also for the surrounding obstacles, enhancing situational awareness. Additionally, a bio-inspired cooperative control strategy designed for UUV swarms utilizing sonar interaction topology is introduced. This innovative method eliminates the need for velocity data from neighboring UUVs, instead relying solely on position information to achieve swarm cooperative control, obstacle avoidance, and trajectory adherence. The effectiveness of this method is validated through extensive simulations. The results show that the proposed method demonstrates improved sensitivity in obstacle detection, enabling faster trajectory tracking while maintaining a safer distance compared to traditional methods. Ultimately, this innovative strategy not only enhances operational efficiency but also enhances safety measures in UUV swarm operations.

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Section: Cooperative Control Methodsmentioning

confidence: 99%

Bio-Inspired Cooperative Control Scheme of Obstacle Avoidance for UUV Swarm

Wang,

Yuan

et al. 2024

JMSE

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“…Consensus control (Sader et al, 2021; Zamanian et al, 2022) is an important issue for coordination tasks, and it is essential to construct network topology for information interaction. In most of the existing research on the consensus of the multi-agent system, fixed topology (Chen et al, 2022b; Lu et al, 2022) and time-varying topology (He and Huang, 2022; Xie et al, 2022a) are often used to determine the neighborhood relationship between agents. The rendezvous problem, as a research hotspot, studies how to make mobile autonomous agents reach the same unpredictable position simultaneously under distributed control.…”

Section: Introductionmentioning

confidence: 99%

Connectivity-preserving rendezvous in discrete-time multi-agent systems via relative neighborhood proximity graph

Xie

Zhong

et al. 2023

Transactions of the Institute of Measurement and Control

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In this paper, we focus on the rendezvous problem of discrete-time multi-agent systems. Each agent is equipped with the same sensing, computing, and motion-control capabilities to achieve rendezvous based on the neighbors’ states. First, a convex hull combination algorithm (CHCA) is designed, in which each agent solves a convex problem composed of perceived neighbors in the sensing region and chooses an optimal control strategy to move to the next position with guaranteed connectivity under low-density network topologies. Second, the relative neighborhood graph is incorporated into the CHCA (RNCHCA) as the constraint set to adapt to the high-density network topologies. The convergence and connectivity of the proposed algorithms are proved based on the geometric concept and case analyses. Finally, a large number of simulation results show that under the initially connected topologies with different densities, the RNCHCA can achieve a higher rendezvous speed than that achieved by the traditional circumcenter algorithm, particularly under high-density network topologies.

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