当前位置: X-MOL 学术IEEE Trans. Cybern. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Multiagent Rendezvous With Shortest Distance to Convex Regions With Empty Intersection: Algorithms and Experiments
IEEE Transactions on Cybernetics ( IF 11.8 ) Pub Date : 2019-03-01 , DOI: 10.1109/tcyb.2018.2794506
Peng Lin , Wei Ren , Hao Wang , Ubaid M. Al-Saggaf

This paper presents both algorithms and experimental results to solve a distributed rendezvous problem with shortest distance to convex regions. In a multiagent network, each agent is assigned to a certain convex region and has information about only its own region. All these regions might not have an intersection. Through local interaction with their neighbors, multiple agents collectively rendezvous at an optimal location that is a priori unknown to each agent and has the shortest total squared distance to these regions. First, a distributed time-varying algorithm is introduced, where a corresponding condition is given to guarantee that all agents rendezvous at the optimal location asymptotically for bounded convex regions. Then a distributed tracking algorithm combined with a distributed estimation algorithm is proposed. It is first shown that for general possibly unbounded convex regions, all agents rendezvous in finite time and then collectively slide to the optimal location asymptotically. Then it is shown that for convex regions with certain projection compressibility, all agents collectively rendezvous at the optimal location in finite time, even when the regions are time varying. The algorithms are experimentally implemented on multiple ground robots to illustrate the obtained theoretical results.

中文翻译:

具有空相交的凸区域最短距离的多主体交会:算法和实验

本文同时介绍了算法和实验结果,以解决到凸区域的距离最短的分布式会合问题。在多主体网络中,每个主体都分配给某个凸区域,并且仅具有有关其自身区域的信息。所有这些区域可能没有交叉点。通过与邻居的本地交互,多个代理在一个最佳位置共同集合,该位置对于每个代理而言都是先验未知的,并且到这些区域的总平方距离最短。首先,引入了分布式时变算法,其中给出了相应的条件,以确保所有智能体在有界凸区域的渐近最优位置会合。然后提出了一种分布式跟踪算法与分布式估计算法相结合的方法。首先表明,对于一般可能的无界凸区域,所有代理在有限时间内会合,然后逐渐渐近地集体滑至最佳位置。然后表明,对于具有一定投影可压缩性的凸区域,即使区域随时间变化,所有代理也会在有限的时间内在最佳位置集体会合。该算法在多个地面机器人上实验实现,以说明获得的理论结果。
更新日期:2019-03-01
down
wechat
bug