Angle rigid multi-agent formations can simultaneously undergo translational,rotational,and scaling maneuvering,therefore combining the maneuvering capabilities of both distance and bearing rigid formations.However,man...Angle rigid multi-agent formations can simultaneously undergo translational,rotational,and scaling maneuvering,therefore combining the maneuvering capabilities of both distance and bearing rigid formations.However,maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available.Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra,this paper aims to solve this challenging problem in both 2D and3D under a leader-follower framework.For the 2D case where the leaders have constant velocities,by using local relative position and velocity measurements,a formation maneuvering law is designed for the followers governed by double-integrator dynamics.When the leaders have time-varying velocities,a sliding mode formation maneuvering law is proposed by using the same measurements.For the 3D case,to establish an angle-induced linear equation for each tetrahedron,we assume that all the followers'coordinate frames share a common Z direction.Then,a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D.The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed.Simulation examples are provided to validate the effectiveness of the proposed algorithms.展开更多
A challenging issue in intelligent transportation systems （ITS） is to accurately locate moving vehicles in urban area. Considerable ef- forts have been made to improve the localization accuracy of standalone GPS rec...A challenging issue in intelligent transportation systems （ITS） is to accurately locate moving vehicles in urban area. Considerable ef- forts have been made to improve the localization accuracy of standalone GPS receivers. However, through empirical study, we found that the latitude and longitude values generated by GPS receivers fluctuate significantly because of the muhipath effect in urban ar- eas. The relative distances between neighboring vehicles with similar GPS signal data in terms of satellite sets and signal strength are much more stable in such a scenario. In this paper, we propose a cooperative localization algorithm, Networking-GPS, to improve the accuracy of location information for vehicular networks in urban area using commodity GPS receivers. First, atom redundantly rigid graphs of vehicles are constructed according to the similarity of neighboring GPS data. Then, through rigidity expansion, local accura- cy can enforce global accuracy. Extensive simulations based on the real road network and trace data of vehicle mobility demonstrate that Networking-GPS can improve the accuracy of the entire system.展开更多
This paper investigates formation control in multi-agent systems to adjust deformation and scaling for obstacle avoidance using local information.A well-known issue with angle-based formation control is the existence ...This paper investigates formation control in multi-agent systems to adjust deformation and scaling for obstacle avoidance using local information.A well-known issue with angle-based formation control is the existence of size ambiguity.Introducing additional controlled variables can potentially mitigate this problem.Therefore,unlike purely angle-based formation control methods that can only adjust deformation,our approach can also control scaling by introducing distance measurements.Specifically,all agents use their local coordinate systems and sense neighboring agents to obtain angle measurements,with only one agent measuring the distance to its neighbor.In the proposed formation control scheme,angle measurements are used to control the desired shape,while distance measurements regulate the formation scaling.Different formation control strategies for triangular and polygonal configurations are discussed,utilizing angle rigidity to ensure the stability of the final shape in polygonal configurations with only one distance measurement used for formation scaling.Additionally,by relaxing the condition of angular rigidity and utilizing the concept of formation rigidity,we propose a formation determination method to construct a rigid square configuration,in which a pair of distances measured by one agent are used to control the formation's scaling.Finally,using a simplified model of a quadrotor unmanned aerial vehicle(QUAV),simulation results validate the effectiveness of the proposed formation control scheme through several examples.展开更多
基金supported by National Natural Science Foundation of China(62173118)supported by the Ramon y Cajal(RYC2020-030090-I)from the Spanish Ministry of Science。
文摘Angle rigid multi-agent formations can simultaneously undergo translational,rotational,and scaling maneuvering,therefore combining the maneuvering capabilities of both distance and bearing rigid formations.However,maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available.Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra,this paper aims to solve this challenging problem in both 2D and3D under a leader-follower framework.For the 2D case where the leaders have constant velocities,by using local relative position and velocity measurements,a formation maneuvering law is designed for the followers governed by double-integrator dynamics.When the leaders have time-varying velocities,a sliding mode formation maneuvering law is proposed by using the same measurements.For the 3D case,to establish an angle-induced linear equation for each tetrahedron,we assume that all the followers'coordinate frames share a common Z direction.Then,a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D.The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed.Simulation examples are provided to validate the effectiveness of the proposed algorithms.
文摘A challenging issue in intelligent transportation systems （ITS） is to accurately locate moving vehicles in urban area. Considerable ef- forts have been made to improve the localization accuracy of standalone GPS receivers. However, through empirical study, we found that the latitude and longitude values generated by GPS receivers fluctuate significantly because of the muhipath effect in urban ar- eas. The relative distances between neighboring vehicles with similar GPS signal data in terms of satellite sets and signal strength are much more stable in such a scenario. In this paper, we propose a cooperative localization algorithm, Networking-GPS, to improve the accuracy of location information for vehicular networks in urban area using commodity GPS receivers. First, atom redundantly rigid graphs of vehicles are constructed according to the similarity of neighboring GPS data. Then, through rigidity expansion, local accura- cy can enforce global accuracy. Extensive simulations based on the real road network and trace data of vehicle mobility demonstrate that Networking-GPS can improve the accuracy of the entire system.
基金supported by the National Natural Science Foundation of China(Grant Nos.12272116,62088101)Zhejiang Provincial Natural Science Foundation of China(Grant No.LY22A020007)the Fundamental Research Funds for the Provincial Universities of Zhejiang(Grant No.GK239909299001-014)。
文摘This paper investigates formation control in multi-agent systems to adjust deformation and scaling for obstacle avoidance using local information.A well-known issue with angle-based formation control is the existence of size ambiguity.Introducing additional controlled variables can potentially mitigate this problem.Therefore,unlike purely angle-based formation control methods that can only adjust deformation,our approach can also control scaling by introducing distance measurements.Specifically,all agents use their local coordinate systems and sense neighboring agents to obtain angle measurements,with only one agent measuring the distance to its neighbor.In the proposed formation control scheme,angle measurements are used to control the desired shape,while distance measurements regulate the formation scaling.Different formation control strategies for triangular and polygonal configurations are discussed,utilizing angle rigidity to ensure the stability of the final shape in polygonal configurations with only one distance measurement used for formation scaling.Additionally,by relaxing the condition of angular rigidity and utilizing the concept of formation rigidity,we propose a formation determination method to construct a rigid square configuration,in which a pair of distances measured by one agent are used to control the formation's scaling.Finally,using a simplified model of a quadrotor unmanned aerial vehicle(QUAV),simulation results validate the effectiveness of the proposed formation control scheme through several examples.
