Weighted Bearing-Compass Dynamics: Edge and Leader Selection
نویسندگان
چکیده
This paper considers the design and effective interfaces of a distributed robotic formation running planar weighted bearing-compass dynamics. We present results which support methodologies to construct formation topologies using submodular optimization techniques. Further, a convex optimization framework is developed for the selection of edge weights which increase performance. We explore a method to select leader agents which can translate and scale the formation, and a corresponding controller that promotes the formation keeping its overall shape intact during manipulation. The results are supported with examples that illustrate the approach and their differing levels of performance.
منابع مشابه
Optimal adaptive leader-follower consensus of linear multi-agent systems: Known and unknown dynamics
In this paper, the optimal adaptive leader-follower consensus of linear continuous time multi-agent systems is considered. The error dynamics of each player depends on its neighbors’ information. Detailed analysis of online optimal leader-follower consensus under known and unknown dynamics is presented. The introduced reinforcement learning-based algorithms learn online the approximate solution...
متن کاملEstimation of the Elastic Properties of Important Calcium Silicate Hydrates in Nano Scale - a Molecular Dynamics Approach
Approximately, 50 to 70 percent of hydration products in hydrated cement paste are polymorphisms of C-S-H gel. It is highly influential in the final properties of hardened cement paste. Distinguishing C-S-H nano-structure significantly leads to determine its macro scale ensemble properties. This paper is dealt with nano-scale modeling. To achieve this, the most important C-S-H compounds, with a...
متن کاملBearing Capacity of Triangular Shell Foundations Adjacent to the Reinforced Sandy Slopes
This paper investigates response of triangular shell strip footings situated on the sandy slope. A series of reduced-scale plate load tests were conducted to cover different parameters including three shell footing types with different apex angles in addition to a flat footing, four different distances for strip footings from the crest of the slope namely “edge distance” and reinforcement statu...
متن کاملOptimal k-Leader Selection for Coherence and Convergence Rate in One-Dimensional Networks
We study the problem of optimal leader selection in consensus networks under two performance measures (1) formation coherence when subject to additive perturbations, as quantified by the steady-state variance of the deviation from the desired trajectory, and (2) convergence rate to a consensus value. The objective is to identify the set of k leaders that optimizes the chosen performance measure...
متن کاملSelection of Optimal Polymerization Degree and Force Field in the Molecular Dynamics Simulation of Insulating Paper Cellulose
To study the microscopic thermal aging mechanism of insulating paper cellulose through molecular dynamics simulation, it is important to select suitable DP (Degree of Polymerization) and force field for the cellulose model to shorten the simulation time and obtain correct and objective simulation results. Here, the variation of the mechanical properties and solubility parameters of models with ...
متن کامل