This study proposes a method for uniformly revolving swarm robots to entrap multiple targets,which is based on a gene regulatory network,an adaptive decision mechanism,and an improved Vicsek-model.Using the gene regul...This study proposes a method for uniformly revolving swarm robots to entrap multiple targets,which is based on a gene regulatory network,an adaptive decision mechanism,and an improved Vicsek-model.Using the gene regulatory network method,the robots can generate entrapping patterns according to the environmental input,including the positions of the targets and obstacles.Next,an adaptive decision mechanism is proposed,allowing each robot to choose the most well-adapted capture point on the pattern,based on its environment.The robots employ an improved Vicsek-model to maneuver to the planned capture point smoothly,without colliding with other robots or obstacles.The proposed decision mechanism,combined with the improved Vicsek-model,can form a uniform entrapment shape and create a revolving effect around targets while entrapping them.This study also enables swarm robots,with an adaptive pattern formation,to entrap multiple targets in complex environments.Swarm robots can be deployed in the military field of unmanned aerial vehicles’(UAVs)entrapping multiple targets.Simulation experiments demonstrate the feasibility and superiority of the proposed gene regulatory network method.展开更多
采用Kinetic Monte Carlo方法对1+1维抛射沉积(BD)模型内部结构的动力学行为进行了大量的数值模拟研究.分别分析了空洞密度和内部界面的动力学行为.研究表明,空洞密度呈高斯型分布,其平均值首先随生长时间快速增长,然后达到一个与基底...采用Kinetic Monte Carlo方法对1+1维抛射沉积(BD)模型内部结构的动力学行为进行了大量的数值模拟研究.分别分析了空洞密度和内部界面的动力学行为.研究表明,空洞密度呈高斯型分布,其平均值首先随生长时间快速增长,然后达到一个与基底尺寸无关的饱和值.除表面宽度,还引入了新的极值统计方法来分析该模型内部界面的动力学行为,分析结果显示,1+1维BD模型内部界面的演化满足标准的Family-Vicsek标度规律,并且属Kardar-Parisi-Zhang方程所描述的普适类.最后对表面宽度和极值统计两种理论方法的有限尺寸效应进行了比较.展开更多
The collective behavior of multi-agent systems is an important studying point for the investigation of complex systems, and a basic model of multi-agent systems is the so called Vicsek model, which possesses some key ...The collective behavior of multi-agent systems is an important studying point for the investigation of complex systems, and a basic model of multi-agent systems is the so called Vicsek model, which possesses some key features of complex systems, such as dynamic behavior, local interaction, changing neighborhood, etc. This model looks simple, but the nonlinearly coupled relationship makes the theoretical analysis quite complicated. Jadbabaie et al. analyzed the linearized heading equations in this model and showed that all agents will synchronize eventually, provided that the neighbor graphs associated with the agents＇ positions satisfy a certain connectivity condition. Much subsequent research effort has been devoted to the analysis of the Vicsek model since the publication of Jadbabaie＇s work. However, an unresolved key problem is when such a connectivity is satisfied. This paper given a sufficient condition to guarantee the synchronization of the Vicsek model, which is imposed on the model parameters only. Moreover, some counterexamples are given to show that the connectivity of the neighbor graphs is not sufficient for synchronization of the Vicsek model if the initial headings are allowed to be in [0,2π）, which reveals some fundamental differences between the Vicsek model and its linearized version.展开更多
The consensus problem of multi-agent systems has attracted wide attention from researchers in recent years, following the initial work of Jadbabaie et al. on the analysis of a simplified Vicsek model. While the origin...The consensus problem of multi-agent systems has attracted wide attention from researchers in recent years, following the initial work of Jadbabaie et al. on the analysis of a simplified Vicsek model. While the original Vicsek model contains noise effects, almost all the existing theoretical results on consensus problem, however, do not take the noise effects into account. The purpose of this paper is to initiate a study of the consensus problems under noise disturbances. First, the class of multi-agent systems under study is transformed into a general time-varying system with noise. Then, for such a system, the equivalent relationships are established among （i） robust consensus, （ii） the positivity of the second smallest eigenvalue of a weighted Laplacian matrix, and （iii） the joint connectivity of the associated dynamical neighbor graphs. Finally, this basic equivalence result is shown to be applicable to several classes of concrete multi-agent models with noise.展开更多
基金funded by the National Natural Science Foundation of China(62176147)the Science and Technology Planning Project of Guangdong Province of China,the State Key Lab of Digital Manufacturing Equipment and Technology(DMETKF2019020)the National Defense Technology Innovation Special Zone Project(193-A14-226-01-01)。
文摘This study proposes a method for uniformly revolving swarm robots to entrap multiple targets,which is based on a gene regulatory network,an adaptive decision mechanism,and an improved Vicsek-model.Using the gene regulatory network method,the robots can generate entrapping patterns according to the environmental input,including the positions of the targets and obstacles.Next,an adaptive decision mechanism is proposed,allowing each robot to choose the most well-adapted capture point on the pattern,based on its environment.The robots employ an improved Vicsek-model to maneuver to the planned capture point smoothly,without colliding with other robots or obstacles.The proposed decision mechanism,combined with the improved Vicsek-model,can form a uniform entrapment shape and create a revolving effect around targets while entrapping them.This study also enables swarm robots,with an adaptive pattern formation,to entrap multiple targets in complex environments.Swarm robots can be deployed in the military field of unmanned aerial vehicles’(UAVs)entrapping multiple targets.Simulation experiments demonstrate the feasibility and superiority of the proposed gene regulatory network method.
文摘采用Kinetic Monte Carlo方法对1+1维抛射沉积(BD)模型内部结构的动力学行为进行了大量的数值模拟研究.分别分析了空洞密度和内部界面的动力学行为.研究表明,空洞密度呈高斯型分布,其平均值首先随生长时间快速增长,然后达到一个与基底尺寸无关的饱和值.除表面宽度,还引入了新的极值统计方法来分析该模型内部界面的动力学行为,分析结果显示,1+1维BD模型内部界面的演化满足标准的Family-Vicsek标度规律,并且属Kardar-Parisi-Zhang方程所描述的普适类.最后对表面宽度和极值统计两种理论方法的有限尺寸效应进行了比较.
基金the National Natural Science Foundation of China (Grant Nos.60221301 and 60334040)
文摘The collective behavior of multi-agent systems is an important studying point for the investigation of complex systems, and a basic model of multi-agent systems is the so called Vicsek model, which possesses some key features of complex systems, such as dynamic behavior, local interaction, changing neighborhood, etc. This model looks simple, but the nonlinearly coupled relationship makes the theoretical analysis quite complicated. Jadbabaie et al. analyzed the linearized heading equations in this model and showed that all agents will synchronize eventually, provided that the neighbor graphs associated with the agents＇ positions satisfy a certain connectivity condition. Much subsequent research effort has been devoted to the analysis of the Vicsek model since the publication of Jadbabaie＇s work. However, an unresolved key problem is when such a connectivity is satisfied. This paper given a sufficient condition to guarantee the synchronization of the Vicsek model, which is imposed on the model parameters only. Moreover, some counterexamples are given to show that the connectivity of the neighbor graphs is not sufficient for synchronization of the Vicsek model if the initial headings are allowed to be in [0,2π）, which reveals some fundamental differences between the Vicsek model and its linearized version.
基金Supported by the National Natural Science Foundation of China (Grant Nos. 60821091, 60804043, 60574068)the Knowledge Innovation Project of Chinese Academy of Sciences (Grant No. KJCX3-SYW-S01)
文摘The consensus problem of multi-agent systems has attracted wide attention from researchers in recent years, following the initial work of Jadbabaie et al. on the analysis of a simplified Vicsek model. While the original Vicsek model contains noise effects, almost all the existing theoretical results on consensus problem, however, do not take the noise effects into account. The purpose of this paper is to initiate a study of the consensus problems under noise disturbances. First, the class of multi-agent systems under study is transformed into a general time-varying system with noise. Then, for such a system, the equivalent relationships are established among （i） robust consensus, （ii） the positivity of the second smallest eigenvalue of a weighted Laplacian matrix, and （iii） the joint connectivity of the associated dynamical neighbor graphs. Finally, this basic equivalence result is shown to be applicable to several classes of concrete multi-agent models with noise.
