Random Finite Set Theory and Centralized Control of Large Collaborative Swarms
نویسندگان
چکیده
منابع مشابه
Control of Large Swarms via Random Finite Set Theory
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm’s configuration. This work generalizes the swarm state using Random Finite Set (RFS) theory and solves the control problem using model predictive control which...
متن کاملRandom Finite Set Theory for Tracking
There already exist some summaries about the use of the theory of random finite sets (RFS) for data fusion which are written by people with a deeper understanding of the theory than myself. In particular, I would recommend “’Statistics 101’ for Multisensor, Multitarget Data Fusion”[7] which is a 10 page long introduction to the motivation and idea behind the RFS approach written by Mahler. Mahl...
متن کاملControl of agent swarms in random environments
The collective dynamic behavior of large groups of interacting autonomous agents (swarms) have inspired much research in both fundamental and engineering sciences. It is now widely acknowledged that the intrinsic nonlinearities due to mutual interactions can generate highly collective spatio-temporal patterns. Moreover, the resulting self-organized behavior cannot be simply guessed by solely in...
متن کاملRandom set theory and problems of modeling
The threeor four-dimensional world in which we live is full of objects to be measured and summarized. Very often a parsimonious finite collection of measurements is enough for scientific investigation into an object’s genesis and evolution. There is a growing need, however, to describe and model objects through their form as well as their size. The purpose of this article is to show the potenti...
متن کاملROBOTRAK: a centralized real-time monitoring, control, and coordination system for robot swarms
Robotic swarm has been a hot topic in recent years. In robotic swarms, a team of network enabled bots are dispatched to some areas to fulfill certain tasks, such as military actions and chemical substance tracking. However, how to monitor, control, and coordinate swarms in a real-time manner such that robots can collaborate efficiently and effectively is a challenging issue. In this paper, a re...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Guidance, Control, and Dynamics
سال: 2021
ISSN: 1533-3884
DOI: 10.2514/1.g004861