Fault-Resilient Continuum Deformation Coordination
Fault-Resilient Continuum Deformation Coordination
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DOI：
10.1109/tcns.2020.3028021
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发表时间：
2021-03
影响因子：
4.2
通讯作者：
H. Rastgoftar
中科院分区：
文献类型：
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作者：
H. Rastgoftar
本文提供了一种基于物理的自动化，具有两种操作模式：1）均匀变形模式（HDM）和2）包容排除模式（CEM），以安全地规划大规模的组协调，并在存在不可预测的代理故障的情况下弹性地恢复安全。当所有代理都健康时，HDM变得活跃，其中组协调由齐次变换协调函数定义。在HDM中，期望的$n$-D齐次变换（$n= 2，3 $）与$n+1$领导者的期望轨迹唯一相关，并且通过本地通信由其余的追随者实时获取。在CEM中，代理协调被视为理想的流体流，其中所需的代理的路径被定义为沿着流线由流体流场理论的启发，以规避周围的排斥空间失败的代理（S）。本文正式指定HDM和CEM之间的过渡，通过使用局部邻近和应用连续变形属性。更具体地说，一旦代理恢复安全并且HDM被激活，代理就使用本地邻近来以无监督的方式定义代理间通信。另一方面，应用齐次变换的性质来快速检测每个出现的异常情况，并从健康代理的组协调中排除失败的代理。
This article offers a physics-based automation with two operation modes: 1) homogeneous deformation mode (HDM) and 2) containment exclusion mode (CEM), to safely plan a large-scale group coordination and resiliently recover safety in the presence of unpredicted agent failures. HDM becomes active when all agents are healthy, where the group coordination is defined by homogeneous transformation coordination functions. At HDM, a desired $n$-D homogeneous transformation ($n=2,3$) is uniquely related to the desired trajectories of $n+1$ leaders and acquired by the remaining followers in real-time through local communication. At CEM, agent coordination is treated as an ideal fluid flow, where the desired agents’ paths are defined along stream lines inspired by fluid flow field theory to circumvent exclusion spaces surrounding failed agent(s). This article formally specifies the transitions between the HDM and CEM by using local proximity and applying the continuum deformation properties. More specifically, local proximity is used by agents to define interagent communication in an unsupervised fashion once they recover safety and HDM is activated. On the other hand, properties of homogeneous transformation are applied to quickly detect each arising anomalous situation and exclude failed agent(s) from group coordination of healthy agents.