A unified Lloyd-based framework for multi-agent collective behaviours
A unified Lloyd-based framework for multi-agent collective behaviours
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基于 Lloyd 的统一多智能体集体行为框架
DOI：
10.1016/j.robot.2022.104207
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
D. Fontanelli
中科院分区：
文献类型：
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作者：
Manuel Boldrer;L. Palopoli;D. Fontanelli
不同的作者已经解决了分布式控制领域的一些问题，提出了令人信服的解决方案，如静态覆盖，动态覆盖/探索，会合，群集，编队控制等具体问题。然而，针对具体问题的方法的一个主要局限性是，当团队遇到意外情况并不得不在飞行中改变其目标时，它基本上缺乏灵活性。在本文中，我们表明，一个大类的分布式控制问题，可以投到一个一般框架的基础上采用劳埃德方法。采用统一的框架可以有效地解决特定问题，同时保证重要的安全性和功能特性以及执行组任务的高度灵活性。本文为这一发展奠定了理论基础，并通过大量的模拟和实验结果证明了所提出的解决方案的有效性。
Different authors have addressed a number of problems in the area of distributed control proposing convincing solutions to specific problems such as static coverage, dynamic coverage/exploration, rendezvous, flocking, formation control. However, a major limitation of problem-specific approaches is a fundamental lack of flexibility when the group meets unexpected conditions and has to change its goal on the fly. In this paper, we show that a large class of distributed control problems can be cast into a general framework based on the adoption of the Lloyd methodology. The adoption of a unified framework enables efficient solutions for the specific problems guaranteeing at the same time important safety and functional properties and a large degree of flexibility in the execution of group tasks. The paper sets the theoretical basis for this development and proves the efficacy of the proposed solutions through extensive simulations and experimental results.
用于 π 簇圆覆盖的时间反演 Kuramoto 动力学
DOI：
10.1109/cdc45484.2021.9683310
发表时间：
2022
期刊：
IEEE Conference on Decision and Control
影响因子：
--
作者：
Boldrer, Manuel;Riz, Francesco;Pasqualetti, Fabio;Palopoli, Luigi;Fontanelli, Daniele
通讯作者：
Fontanelli, Daniele