Robotic Herding Using Wavefront Algorithm: Performance and Stability

Robotic Herding Using Wavefront Algorithm: Performance and Stability
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使用波前算法的机器人放牧：性能和稳定性

DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Soon
Soon
中科院分区：
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文献类型：
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作者：
Shripad Gade;A. Paranjape;Soon

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本文关注的是机器人放牧的一群鸟的另一个对抗代理，提到 作为追求者。放牧的目的是防止鸟类进入特定的空间， 例如机场周围的空域。作者在一个 先前的论文，以实现使用机器人无人驾驶飞行器对鸟群的放牧。本文在分析了现有文献的基础上， 从线性稳定性和非线性稳定性两个方面分析了系统的性能和稳定性 理论，目的是证明其性能，并确定允许和最佳值的 控制参数结果表明，使用n-Wavefront算法，追踪器可以成功地进行机动 在规定的周界周围的鸟类，同时确保群不经历分裂 因为它对追踪者的出现做出了反应。
This paper is concerned with robotic herding of a swarm of birds by another adversarial agent, referred to as the pursuer. The objective of herding is to prevent the birds from entering a specified volume of space, such as the air space around an airport. The n-Wavefront algorithm was introduced by the authors in a prior paper to enable herding of a swarm of birds using a robotic unmanned aerial vehicle. In this paper, the performance and stability characteristics are analyzed using tools from linear and nonlinear stability theory, with the aim of proving its performance and identifying the permissible and optimum values of the control parameters. It is shown that, using the n-Wavefront algorithm, a pursuer can successfully maneuver the birds around the prescribed perimeter while ensuring that the swarm does not undergo fragmentation as a result of its response to the presence of the pursuer.